Digital Drive Controller for Hydraulic Edition 01 Drives with Sercos Interface Type VT-HNC100.-3X

RE 30159-WA/03.12 Digital Drive Controller for Hydraulic Edition 01 Drives with Sercos Interface Type VT-HNC100.-3X

Parameter description The data specified above only serve to describe the product. No statement concerning a certain condition or suitability for a certain application can be derived from our information. The information given does not release the user from the obligation of own judgement and verification. It must be remembered that our products are subject to a natural process of wear and aging.

© This document, as well as the data, specifications and other information set forth in it, are the exclusive property of Bosch Rexroth AG. It may not be reproduced or given to third parties without its consent.

The original operating instructions were prepared in German. RE30159-WA Bosch Rexroth AG I/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Table of Contents Table of Contents Page 1 General Information...... 13 1.1 About this Documentation...... 13 1.2 Documentation for HNC100-3X...... 13

2 Important Directions for Use ...... 15 2.1 Appropriate Use ...... 15 2.1.1 Introduction...... 15 2.1.2 Areas of Use and Application...... 15 2.2 Inappropriate Use...... 16

3 Safety Instructions for Electric and Hydraulic Drives and Controls...... 17 3.1 Definition of terms...... 17 3.2 Basic Information...... 18 3.2.1 Using the Safety Instructions and Passing Them on to Third Parties...... 18 3.2.2 Requirements for Safe Use...... 18 3.2.3 Hazards due to Improper Use...... 19 3.3 Hazard-related Instructions...... 21 3.3.1 Protection Against Contact with Electrical Parts and Housings...... 21 3.3.2 Protective Extra-Low Voltage as Protection Against Electric Shock ...... 22 3.3.3 Protection Against Dangerous Movements...... 22 3.3.4 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting...... 24 3.3.5 Protections Against Contact with Hot Parts...... 24 3.3.6 Protection During Handling and Mounting...... 25 3.3.7 Battery Safety...... 25 3.3.8 Protection Against Pressurized Lines...... 26 3.4 Explanation of Signal Words and the Safety Alert Symbol...... 26

4 Status Diagnoses (Axxxx)...... 29 4.1 A0000 Communication phase 0...... 29 4.2 A0001 Communication phase 1...... 29 4.3 A0002 Communication phase 2...... 29 4.4 A0003 Communication phase 3...... 30 4.5 A0009 Automatic baud rate detection for SERCOS interface...... 30 4.6 A0010 Drive HALT...... 31 4.7 A0011 Starting lockout active...... 31 4.8 A0012 Control and power sections ready for operation...... 31 4.9 A0013 Ready for power on...... 32 4.10 A0014 Drive interlock active...... 32 4.11 A0015 Safety related standstill active...... 33 4.12 A0016 Safety related operational stop active...... 33 4.13 A0018 Special mode motion 1 active...... 34 4.14 A0019 Special mode motion 2 active...... 35 4.15 A0020 Special mode motion 3 active...... 36 II/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

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Page 4.16 A0021 Special mode motion 4 active...... 37 4.17 A0050 Parameterization level 1 active...... 38 4.18 A0051 Operating mode...... 38 4.19 A0100 Torque control...... 38 4.20 A0101 Velocity control...... 38 4.21 A0102 Position mode, encoder 1...... 38 4.22 A0103 Position mode, encoder 2...... 39 4.23 A0104 Position mode lagless, encoder 1...... 39 4.24 A0105 Position mode lagless, encoder 2...... 39 4.25 A0106 Drive-internal interpolation, encoder 1...... 39 4.26 A0107 Drive-internal interpolation, encoder 2...... 40 4.27 A0108 Drive controlled interpolation, lagless, encoder 1...... 40 4.28 A0109 Drive controlled interpolation, lagless, encoder 2...... 40 4.29 A0110 Velocity synchronization, virtual master axis...... 41 4.30 A0111 Velocity synchronization, real master axis...... 41 4.31 A0112 Phase synchronization, encoder 1, virtual master axis...... 41 4.32 A0113 Phase synchronization, encoder 2, virtual master axis...... 41 4.33 A0114 Phase synchronization, encoder 1, real master axis...... 41 4.34 A0115 Phase synchronization, encoder 2, real master axis...... 42 4.35 A0116 Phase synchr. lagless, encoder 1, virtual master axis...... 42 4.36 A0117 Phase synchr. lagless, encoder 2, virtual master axis...... 42 4.37 A0118 Phase synchr. lagless, encoder 1, real master axis...... 42 4.38 A0119 Phase synchr. lagless, encoder 2, real master axis...... 43 4.39 A0128 Cam, encoder 1, virtual master axis...... 43 4.40 A0129 Cam, encoder 2, virtual master axis...... 43 4.41 A0130 Cam, encoder 1, real master axis...... 43 4.42 A0131 Cam, encoder 2, real master axis...... 44 4.43 A0132 Cam, lagless, encoder 1, virt. master axis...... 44 4.44 A0133 Cam, lagless, encoder 2, virt. master axis...... 44 4.45 A0134 Cam, lagless, encoder 1, real master axis...... 44 4.46 A0135 Cam, lagless, encoder 2, real master axis...... 45 4.47 A0136 Motion profile, encoder 1, virtual master axis...... 45 4.48 A0137 Motion profile, encoder 2, virtual master axis...... 45 4.49 A0138 Motion profile, encoder 2, real master axis...... 46 4.50 A0139 Motion profile, encoder 1, real master axis...... 46 4.51 A0140 Motion profile lagless, encoder 1, virtual master axis...... 46 4.52 A0141 Motion profile lagless, encoder 2, virtual master axis...... 46 4.53 A0142 Motion profile lagless, encoder 1, real master axis...... 47 4.54 A0143 Motion profile lagless, encoder 2, real master axis...... 47 4.55 A0150 Drive-controlled positioning, encoder 1...... 47 4.56 A0151 Drive-controlled positioning, encoder 1, lagless...... 48 4.57 A0152 Drive-controlled positioning, encoder 2...... 48 4.58 A0153 Drive-controlled positioning, encoder 2, lagless...... 49 4.59 A0154 Position mode drive controlled, encoder 1...... 49 4.60 A0155 Position mode drive controlled, encoder 2...... 49 4.61 A0156 Position mode lagless, encoder 1 drive controlled...... 50 RE30159-WA Bosch Rexroth AG III/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

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Page 4.62 A0157 Position mode lagless, encoder 2 drive controlled...... 50 4.63 A0158 Direct valve control...... 50 4.64 A0160 Position mode drive controlled...... 50 4.65 A0161 Drive-controlled positioning...... 51 4.66 A0162 Positioning block mode...... 51 4.67 A0163 Position synchronization...... 51 4.68 A0164 Velocity synchronization...... 52 4.69 A0206 Positioning block mode, encoder 1...... 52 4.70 A0207 Positioning block mode lagless, encoder 1...... 52 4.71 A0210 Positioning block mode, encoder 2...... 52 4.72 A0211 Positioning block mode lagless, encoder 2...... 52 4.73 A0403 Quick stop with probe detection is active...... 53 4.74 A0500 Supply module in voltage control...... 53 4.75 A0502 Supply module in operation...... 53 4.76 A0503 DC bus charging active...... 53 4.77 A0520 DC bus quick discharge active...... 53 4.78 A0800 Unknown operating mode...... 54 4.79 A4000 Automatic drive check and adjustment...... 54 4.80 A4001 Drive deceleration to standstill...... 54 4.81 A4002 Drive in automatic mode...... 54 4.82 A4003 Setting-up mode is active...... 55

5 Error Messages...... 57 5.1 Fatal System Errors (F9xxx and E-0000)...... 57 5.1.1 F9001 Error internal function call...... 57 5.1.2 F9002 Error internal RTOS function call...... 57 5.1.3 F9003 Watchdog...... 57 5.1.4 F9004 Hardware trap...... 57 5.2 Fatal Errors (F8xxx)...... 57 5.2.1 F8000 Fatal hardware error...... 57 5.2.2 F8018 Device overtemperature shutdown...... 58 5.2.3 F8022 Enc. 1: Enc. signals incorr. (can be cleared in ph. 2)...... 58 5.2.4 F8042 Encoder 2 error: Signal amplitude incorrect...... 59 5.2.5 F8057 Device overload shutdown...... 60 5.2.6 F8060 Overcurrent in power section...... 60 5.2.7 F8069 +/-15Volt DC error...... 60 5.2.8 F8070 +24Volt DC error...... 61 5.2.9 F8078 Speed loop error...... 61 5.2.10 F8079 Velocity limit value exceeded...... 62 5.2.11 F8091 Power section defective...... 62 5.2.12 F8096 Encoder 1: Extended bit 1 reports error...... 62 5.2.13 F8097 Encoder 1: Extended bit 2 reports error...... 63 5.2.14 F8100 Error when initializing the parameter handling...... 63 5.2.15 F8102 Error when initializing power section...... 63 5.2.16 F8118 Invalid power section/firmware combination...... 64 5.2.17 F8120 Invalid control section/firmware combination...... 64 IV/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

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Page 5.2.18 F8122 Control section defective...... 64 5.2.19 F8129 Incorrect optional module firmware...... 64 5.2.20 F8813 Connection error mains choke...... 65 5.3 Errors of Category F6xxx...... 65 5.3.1 F6028 Position limit value exceeded (overflow)...... 65 5.3.2 F6029 Positive position limit exceeded...... 66 5.3.3 F6030 Negative position limit exceeded...... 67 5.3.4 F6034 Emergency-Stop activated...... 67 5.3.5 F6042 Both travel range limit switches activated...... 68 5.3.6 F6043 Positive travel range limit switch activated...... 68 5.3.7 F6044 Negative travel range limit switch activated...... 69 5.4 Interface Errors (F4xxx)...... 70 5.4.1 F4001 Double MST failure shutdown...... 70 5.4.2 F4002 Double MDT failure shutdown...... 70 5.4.3 F4003 Invalid communication phase shutdown...... 71 5.4.4 F4004 Error during phase progression...... 71 5.4.5 F4005 Error during phase regression...... 71 5.4.6 F4006 Phase switching without ready signal...... 71 5.4.7 F4009 Bus failure...... 72 5.4.8 F4011 Communication watchdog: Overload of cyclic communication...... 73 5.4.9 F4012 Incorrect I/O length...... 74 5.4.10 F4017 S-III: Incorrect sequence during phase switch...... 74 5.4.11 F4034 Emergency-Stop activated...... 74 5.5 Non-fatal Errors (F2xxx)...... 75 5.5.1 F2002 Assignment of encoder for synchronization is not allowed...... 75 5.5.2 F2003 Motion step skipped...... 76 5.5.3 F2004 Error in motion profile...... 76 5.5.4 F2005 Cam shaft invalid...... 77 5.5.5 F2006 MMC was removed...... 78 5.5.6 F2007 Switching to non-initialized operation mode...... 78 5.5.7 F2008 RL The motor type has changed...... 79 5.5.8 F2009 PL Load parameter default values...... 79 5.5.9 F2010 Error when initializing digital I/O (-> S-0-0423)...... 80 5.5.10 F2018 Device overtemperature shutdown...... 81 5.5.11 F2019 Motor overtemperature shutdown...... 82 5.5.12 F2021 Motor temperature monitor defective...... 82 5.5.13 F2022 Device temperature monitor defective...... 83 5.5.14 F2025 Drive not ready for control...... 83 5.5.15 F2026 Undervoltage in power section...... 84 5.5.16 F2028 Excessive deviation...... 84 5.5.17 F2031 Encoder 1 error: Signal amplitude incorrect...... 85 5.5.18 F2033 External power supply X10 error...... 85 5.5.19 F2036 Excessive position feedback difference...... 86 5.5.20 F2037 Excessive position command difference...... 87 5.5.21 F2039 Maximum acceleration exceeded...... 87 5.5.22 F2040 Device overtemperature 2 shutdown...... 87 RE30159-WA Bosch Rexroth AG V/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

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Page 5.5.23 F2042 Encoder 2: Encoder signals incorrect...... 88 5.5.24 F2043 Measuring encoder: Encoder signals incorrect...... 88 5.5.25 F2044 External power supply X15 error...... 89 5.5.26 F2048 Low battery voltage...... 89 5.5.27 F2050 Overflow of target position preset memory...... 90 5.5.28 F2051 No sequential block in target position preset memory...... 91 5.5.29 F2055 External power supply X31/X32 error...... 91 5.5.30 F2057 Target position out of travel range...... 91 5.5.31 F2058 Internal overflow by positioning input...... 92 5.5.32 F2059 Incorrect command value direction when positioning...... 93 5.5.33 F2067 Synchronization to master communication incorrect...... 93 5.5.34 F2068 Brake error...... 94 5.5.35 F2074 Actual pos. value 1 outside absolute encoder window...... 94 5.5.36 F2075 Actual pos. value 2 outside absolute encoder window...... 95 5.5.37 F2076 Actual pos. value 3 outside absolute encoder window...... 96 5.5.38 F2077 Current measurement trim wrong...... 96 5.5.39 F2086 Error supply module...... 97 5.5.40 F2087 Module group communication error...... 97 5.5.41 F2100 Incorrect access to command value memory...... 97 5.5.42 F2101 It was impossible to address MMC...... 98 5.5.43 F2102 It was impossible to address I2C memory...... 98 5.5.44 F2103 It was impossible to address EnDat memory...... 98 5.5.45 F2104 Commutation offset invalid...... 99 5.5.46 F2105 It was impossible to address Hiperface memory...... 99 5.5.47 F2110 Error in non-cyclical data communic. of power section...... 100 5.5.48 F2120 MMC: Defective or missing, replace...... 100 5.5.49 F2121 MMC: Incorrect data or file, create correctly...... 100 5.5.50 F2122 MMC: Incorrect IBF file, correct it...... 101 5.5.51 F2130 Error comfort control panel...... 101 5.5.52 F2174 Loss of motor encoder reference...... 102 5.5.53 F2175 Loss of optional encoder reference...... 102 5.5.54 F2176 Loss of measuring encoder reference...... 103 5.5.55 F2177 Modulo limitation error of motor encoder...... 103 5.5.56 F2178 Modulo limitation error of optional encoder...... 104 5.5.57 F2190 Incorrect Ethernet configuration...... 104 5.5.58 F2270 Analog input 1 or 2, wire break...... 105 5.5.59 F2802 PLL is not synchronized...... 106 5.5.60 F2814 Undervoltage in mains...... 106 5.5.61 F2815 Overvoltage in mains...... 106 5.5.62 F2816 Softstart fault power supply unit...... 106 5.5.63 F2817 Overvoltage in power section...... 107 5.5.64 F2818 Phase failure...... 107 5.5.65 F2819 Mains failure...... 107 5.5.66 F2820 Braking resistor overload...... 108 5.5.67 F2821 Error in control of braking resistor...... 109 5.5.68 F2833 Ground fault in motor line...... 109 VI/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

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Page 5.5.69 F2834 Contactor control error...... 109 5.5.70 F2835 Mains contactor wiring error...... 110 5.5.71 F2836 DC bus balancing monitor error...... 110 5.5.72 F2837 Contactor monitoring error...... 110 5.5.73 F2840 Error supply shutdown...... 111 5.5.74 F2860 Overcurrent in mains-side power section...... 111 5.5.75 F2890 Invalid device code...... 112 5.5.76 F2891 Incorrect interrupt timing...... 112 5.5.77 F2892 Hardware variant not supported...... 112

6 Warnings (Exxxx)...... 113 6.1 Fatal Warnings (E8xxx)...... 113 6.1.1 E8025 Overvoltage in power section...... 113 6.1.2 E8026 Undervoltage in power section...... 114 6.1.3 E8029 Positive position limit exceeded...... 114 6.1.4 E8030 Negative position limit exceeded...... 115 6.1.5 E8034 Emergency-Stop activated...... 115 6.1.6 E8035 Quick stop with probe detection is active...... 116 6.1.7 E8040 Torque/force actual value limit active...... 116 6.1.8 E8042 Both travel range limit switches activated...... 116 6.1.9 E8043 Positive travel range limit switch activated...... 117 6.1.10 E8044 Negative travel range limit switch activated...... 118 6.1.11 E8055 Motor overload, current limit active...... 118 6.1.12 E8057 Device overload, current limit active...... 119 6.1.13 E8260 Torque/force command value limit active...... 119 6.1.14 E8802 PLL is not synchronized...... 120 6.1.15 E8814 Undervoltage in mains...... 121 6.1.16 E8815 Overvoltage in mains...... 121 6.1.17 E8818 Phase failure...... 121 6.1.18 E8819 Mains failure...... 122 6.2 Warnings of Category (E4xxx)...... 123 6.2.1 E4001 Double MST failure shutdown...... 123 6.2.2 E4002 Double MDT failure shutdown...... 123 6.2.3 E4005 No command value input via master communication...... 124 6.2.4 E4007 SERCOS III: Consumer connection failed...... 125 6.2.5 E4008 Invalid addressing command value data container A...... 125 6.2.6 E4009 Invalid addressing actual value data container A...... 125 6.2.7 E4010 Slave not scanned or address 0...... 126 6.2.8 E4011 Communication watchdog: Overload of cyclic communication...... 126 6.3 Non-fatal Warnings (E2xxx)...... 126 6.3.1 E2010 Position control with encoder 2 not possible...... 126 6.3.2 E2021 Motor temperature outside of measuring range...... 126 6.3.3 E2026 Undervoltage in power section...... 127 6.3.4 E2047 Interpolation velocity = 0...... 128 6.3.5 E2048 Interpolation acceleration = 0...... 128 6.3.6 E2049 Positioning velocity >= limit value...... 129 RE30159-WA Bosch Rexroth AG VII/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

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Page 6.3.7 E2050 Device overtemp. prewarning...... 130 6.3.8 E2051 Motor overtemp. prewarning...... 130 6.3.9 E2053 Target position out of travel range...... 131 6.3.10 E2054 Not homed...... 132 6.3.11 E2055 Feedrate override S-0-0108 = 0...... 132 6.3.12 E2056 Torque limit = 0...... 133 6.3.13 E2058 Selected positioning block has not been programmed...... 134 6.3.14 E2059 Velocity command value limit active...... 134 6.3.15 E2061 Device overload prewarning...... 135 6.3.16 E2063 Velocity command value > limit value...... 135 6.3.17 E2064 Target position out of num. range...... 136 6.3.18 E2070 Acceleration limit active...... 136 6.3.19 E2074 Encoder 1: Encoder signals disturbed...... 136 6.3.20 E2075 Encoder 2: Encoder signals disturbed...... 137 6.3.21 E2077 Absolute encoder monitoring, motor encoder (encoder alarm)...... 138 6.3.22 E2078 Absolute encoder monitoring, opt. encoder (encoder alarm)...... 138 6.3.23 E2092 Internal synchronization defective...... 139 6.3.24 E2100 Positioning velocity of master axis generator too high...... 139 6.3.25 E2101 Acceleration of master axis generator is zero...... 140 6.3.26 E2270 Analog input 1 or 2, wire break...... 140 6.3.27 E2810 Drive system not ready for operation...... 141 6.3.28 E2818 Phase failure...... 141 6.3.29 E2819 Mains failure...... 141 6.3.30 E2820 Braking resistor overload prewarning...... 141

7 Command Diagnosis...... 143 7.1 Commands...... 143 7.1.1 C0100 Communication phase 3 transition check...... 143 7.1.2 C0200 Exit parameterization level procedure command...... 143 7.1.3 C0300 Set absolute position procedure command...... 143 7.1.4 C0400 Activate parameterization level 1 procedure command...... 143 7.1.5 C0500 Reset class 1 diagnostics, error reset...... 143 7.1.6 C0600 Drive-controlled homing procedure command...... 144 7.1.7 C0700 Load defaults proced. command (motor-spec. controller val.)...... 144 7.1.8 C0720 Load defaults procedure command (safety technology)...... 145 7.1.9 C0730 Load defaults procedure command (MLD)...... 145 7.1.10 C0740 Command Activate field bus profile settings...... 146 7.1.11 C0750 Load defaults procedure command (factory settings)...... 146 7.1.12 C0800 Load basic parameters command...... 147 7.1.13 C0900 Position spindle command...... 147 7.1.14 C1300 Positive stop drive procedure command...... 147 7.1.15 C1400 Command Get marker position...... 147 7.1.16 C1500 Cancel reference point procedure command...... 147 7.1.17 C1600 Parking axis command...... 147 7.1.18 C1800 Command Drive optimization / command value box...... 148 7.1.19 C2200 Backup working memory procedure command...... 148 VIII/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

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Page 7.1.20 C2300 Load working memory procedure command...... 148 7.1.21 C2400 Selectively backup working memory procedure command...... 149 7.1.22 C2800 Analog input adjustment command...... 149 7.1.23 C2900 Command Firmware update from MMC...... 149 7.1.24 C3100 Recalculate actual value cycle...... 149 7.1.25 C3300 Set coordinate system procedure command...... 149 7.1.26 C3400 Shift coordinate system procedure command...... 150 7.1.27 C3500 Command Determine encoder correction values...... 150 7.1.28 C4100 Switch parameter set command...... 150 7.1.29 C4200 Drive-controlled oscillation command...... 150 7.1.30 C4300 NC-controlled homing procedure command...... 150 7.1.31 C4400 Calculate displacement procedure command...... 150 7.1.32 C4500 Displacement to referenced system procedure command...... 151 7.1.33 C4700 Command Activate easy startup mode...... 151 7.1.34 C4800 Command Determine cogging torque compensation table...... 151 7.1.35 C5200 Communication phase 4 transition check...... 151 7.1.36 C5300 SERCOS III: Command SYNC delay measurement...... 151 7.1.37 C6000 Set absolute position procedure command...... 151 7.1.38 C6100 Command Activate IP settings...... 152 7.2 Command Errors...... 152 7.2.1 C0101 Invalid parameters (-> S-0-0021)...... 152 7.2.2 C0102 Limit error in parameter (-> S-0-0021)...... 153 7.2.3 C0103 Parameter conversion error (->S-0-0021)...... 153 7.2.4 C0104 Config. IDN for MDT not configurable...... 153 7.2.5 C0105 Maximum length for MDT exceeded...... 154 7.2.6 C0106 Config. IDNs for AT not configurable...... 154 7.2.7 C0107 Maximum length for AT exceeded...... 154 7.2.8 C0108 Time slot parameter > Sercos cycle time...... 155 7.2.9 C0109 Position of data record in MDT (S-0-0009) even...... 155 7.2.10 C0110 Length of MDT (S-0-0010) odd...... 155 7.2.11 C0111 ID9 + Record length - 1 > length MDT (S-0-0010)...... 156 7.2.12 C0112 TNcyc (S-0-0001) or TScyc (S-0-0002) error...... 156 7.2.13 C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error...... 156 7.2.14 C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005)...... 157 7.2.15 C0115 T2 too small...... 157 7.2.16 C0118 Order of cyclic command value configuration incorrect...... 158 7.2.17 C0132 Invalid settings for controller cycle times...... 158 7.2.18 C0139 T2 (S-0-0089)+length MDT (S-0-0010)>TScyc (S-0-0002)...... 159 7.2.19 C0151 IDN for command value data container not allowed...... 159 7.2.20 C0152 IDN for actual value data container not allowed...... 159 7.2.21 C0172 Delay measurement (S-0-1024) not carried out...... 160 7.2.22 C0173 Connections (number) not configurable...... 160 7.2.23 C0174 Connection configuration not allowed...... 160 7.2.24 C0175 Producer cycle time of a connection not correct...... 160 7.2.25 C0201 Invalid parameters (->S-0-0423)...... 161 7.2.26 C0202 Parameter limit error (->S-0-0423)...... 161 RE30159-WA Bosch Rexroth AG IX/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

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Page 7.2.27 C0203 Parameter conversion error (->S-0-0423)...... 162 7.2.28 C0210 Feedback 2 required (->S-0-0423)...... 162 7.2.29 C0212 Invalid control section data (->S-0-0423)...... 163 7.2.30 C0219 Max. travel range too large...... 163 7.2.31 C0220 Error when initializing position of encoder 1...... 164 7.2.32 C0221 Initialization velocity encoder 1 too high...... 164 7.2.33 C0223 Invalid settings for controller cycle times...... 165 7.2.34 C0224 Error when initializing position of encoder 2...... 165 7.2.35 C0225 Initialization velocity encoder 2 too high...... 165 7.2.36 C0227 Error when initializing position of measuring encoder...... 166 7.2.37 C0228 Initialization velocity measuring encoder too high...... 166 7.2.38 C0229 Field bus: IDN for cycl. command val. not configurable...... 166 7.2.39 C0230 Field bus: Max. length for cycl. command val. exceeded...... 167 7.2.40 C0231 Field bus: IDN for cycl. actual val. not configurable...... 167 7.2.41 C0232 Field bus: Length for cycl. actual values exceeded...... 167 7.2.42 C0233 Field bus: Tcyc (P-0-4076) incorrect...... 167 7.2.43 C0234 Field bus: P-0-4077 missing for cycl. command values...... 168 7.2.44 C0238 Order of cyclic command value configuration incorrect...... 168 7.2.45 C0239 IDN for command value data container not allowed...... 168 7.2.46 C0240 IDN for actual value data container not allowed...... 169 7.2.47 C0242 Multiple configuration of a parameter (->S-0-0423)...... 169 7.2.48 C0243 Brake check function not possible...... 171 7.2.49 C0244 Act. modulo value cycle greater than max. travel range...... 171 7.2.50 C0245 Operation mode configuration (->S-0-0423) not allowed...... 171 7.2.51 C0246 Trav. range lim. switch not ass. to dig. input...... 172 7.2.52 C0247 Dig. output already assigned to other axis...... 173 7.2.53 C0248 Dig. input assigned differently to axes...... 173 7.2.54 C0249 Dig. I/Os: Bit number too large...... 173 7.2.55 C0250 Probe inputs incorrectly configured...... 174 7.2.56 C0251 Error during synchronization to master communication...... 174 7.2.57 C0253 Error in combination operation mode - encoder (->S-0-0423)...... 174 7.2.58 C0254 Configuration error PROFIsafe...... 175 7.2.59 C0255 Safety command for system init. incorrect...... 175 7.2.60 C0256 Safety technology configuration error...... 176 7.2.61 C0257 Error in safety technology encoder initialization...... 176 7.2.62 C0258 Error in relation TNcyc (S-0-0001) to fine interpol...... 176 7.2.63 C0259 MLD configuration error (->S-0-0423)...... 177 7.2.64 C0260 Incremental enc. emulator resol. cannot be displayed...... 177 7.2.65 C0270 Error when reading encoder data => motor encoder...... 178 7.2.66 C0271 Incorrect parameterization of motor encoder (hardware)...... 178 7.2.67 C0272 Incorr. parameteriz. of motor enc. (mechanical system)...... 179 7.2.68 C0273 Modulo value for motor encoder cannot be displayed...... 179 7.2.69 C0274 Motor encoder unknown...... 180 7.2.70 C0275 Error when reading encoder data => optional encoder...... 180 7.2.71 C0276 Incorrect parameterization of optional enc. (hardware)...... 180 7.2.72 C0277 Incorr. parameteriz. of opt. enc. (mechanical system)...... 181 X/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

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Page 7.2.73 C0278 Modulo value for optional encoder cannot be displayed...... 181 7.2.74 C0279 Optional encoder unknown...... 181 7.2.75 C0280 Maximum travel range cannot be displayed internally...... 182 7.2.76 C0281 Commutation via encoder-2 impossible...... 182 7.2.77 C0282 Sensorless posit. of synchr. motors, invalid ctrl parameters...... 183 7.2.78 C0283 Error during initialization of motor control (->S-0-0423)...... 183 7.2.79 C0284 Invalid motor data in encoder memory (->S-0-0423)...... 183 7.2.80 C0285 Type of construction of motor P-0-4014 incorrect...... 184 7.2.81 C0286 Several motor encoders connected...... 185 7.2.82 C0287 Error during initialization of motor data (->S-0-0423)...... 185 7.2.83 C0288 Rotary scaling not allowed...... 186 7.2.84 C0289 Error at init. of synchr. motor with reluctance torque...... 187 7.2.85 C0290 Error when reading encoder data => measuring encoder...... 187 7.2.86 C0291 Incorr. parameterization of measuring enc. (hardware)...... 188 7.2.87 C0292 Measuring encoder unknown...... 188 7.2.88 C0293 Modulo value for measuring encoder cannot be displayed...... 189 7.2.89 C0294 Incorrect measuring encoder configuration...... 189 7.2.90 C0298 Impossible to exit parameterization level...... 189 7.2.91 C0299 Functional package selection changed. Restart...... 190 7.2.92 C0301 Measuring system unavailable...... 190 7.2.93 C0302 Absolute evaluation of measuring system impossible...... 190 7.2.94 C0303 Absolute encoder offset cannot be saved...... 191 7.2.95 C0401 Switching not allowed...... 191 7.2.96 C0501 Error clearing only in parameter mode...... 191 7.2.97 C0601 Homing only possible with drive enable...... 192 7.2.98 C0602 Distance home switch - reference mark erroneous...... 192 7.2.99 C0603 Homing impossible with optional encoder...... 192 7.2.100 C0604 Homing impossible with absolute encoder...... 192 7.2.101 C0606 Reference mark not detected...... 193 7.2.102 C0607 Reference cam input not assigned...... 193 7.2.103 C0608 Pos. stop a. HW lim. switch not allowed f. modulo axes...... 193 7.2.104 C0609 Different travel directions parameterized...... 194 7.2.105 C0610 Absolute encoder offset could not be saved...... 194 7.2.106 C0702 Default parameters not available...... 194 7.2.107 C0703 Default parameters invalid...... 194 7.2.108 C0704 Parameters not copyable...... 195 7.2.109 C0706 Error when reading the controller parameters...... 195 7.2.110 C0751 Parameter default value incorrect (-> S-0-0423)...... 195 7.2.111 C0752 Locked with password...... 195 7.2.112 C0799 An invalid index was set...... 196 7.2.113 C0851 Parameter default value incorrect (-> S-0-0021)...... 196 7.2.114 C0852 Locked with password...... 196 7.2.115 C0902 Spindle positioning requires drive enable...... 196 7.2.116 C0903 Error during initialization...... 196 7.2.117 C0906 Error during search for zero pulse...... 197 7.2.118 C1301 Class 1 diagnostics error at command start...... 197 RE30159-WA Bosch Rexroth AG XI/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

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Page 7.2.119 C1402 Faulty reference mark signal...... 197 7.2.120 C1801 Start requires drive enable...... 198 7.2.121 C1802 Motor feedback data not valid...... 198 7.2.122 C1803 Inertia detection failed...... 198 7.2.123 C1804 Automatic controller setting failed...... 199 7.2.124 C1805 Travel range invalid...... 199 7.2.125 C1806 Travel range exceeded...... 200 7.2.126 C1807 Determining travel range only via travel distance...... 200 7.2.127 C1808 Drive not homed...... 200 7.2.128 C2202 Error when writing data to non-volatile memory...... 201 7.2.129 C2301 Error when reading non-volatile memory...... 201 7.2.130 C2302 Error when converting parameters...... 201 7.2.131 C2402 Error when saving parameters...... 201 7.2.132 C2502 Error when accessing the MMC...... 202 7.2.133 C2504 Error when writing data to internal memory...... 202 7.2.134 C2602 Error when accessing the MMC...... 203 7.2.135 C2604 Error when reading the internal memory...... 203 7.2.136 C2801 Analog input not configured...... 204 7.2.137 C2802 Oscillations of input signal outside tolerance range...... 204 7.2.138 C2803 Measured values at zero point and max. value identical...... 204 7.2.139 C2804 Automatic adjustment failed...... 204 7.2.140 C2903 Error when accessing the MMC...... 204 7.2.141 C2904 Error when accessing the flash...... 205 7.2.142 C2905 Programmed firmware defective...... 205 7.2.143 C3101 Act. modulo value cycle greater than max. travel range...... 206 7.2.144 C3102 Drive is still in drive enable...... 206 7.2.145 C3501 Acquisition velocity not allowed...... 206 7.2.146 C3502 Motor encoder not available...... 206 7.2.147 C3503 Optional encoder not available...... 207 7.2.148 C3504 Measuring encoder not available...... 207 7.2.149 C3505 No encoder selected...... 207 7.2.150 C3506 Correction value table cannot be stored...... 207 7.2.151 C4101 Switching only possible without AF...... 208 7.2.152 C4102 Switching only possible in parameter mode...... 208 7.2.153 C4103 Preselect parameter set forbidden value...... 208 7.2.154 C4104 Error during parameter set switching (->S-0-0423)...... 208 7.2.155 C4105 Error during gear change...... 208 7.2.156 C4201 Oscillation requires drive enable...... 209 7.2.157 C4202 Oscillation command speed cannot be reached...... 209 7.2.158 C4302 Distance home switch - reference mark erroneous...... 209 7.2.159 C4304 Homing impossible with absolute encoder...... 209 7.2.160 C4306 Reference mark not detected...... 209 7.2.161 C4307 Reference cam input not assigned...... 210 7.2.162 C4308 Pos. stop a. HW lim. switch not allowed f. modulo axes...... 210 7.2.163 C4701 Drive active, activation of easy startup impossible...... 210 7.2.164 C4801 Cogging torque compensation: Measuring vel. too high...... 211 XII/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Table of Contents

Page 7.2.165 C4802 Cogging torque compensation: Measuring vel. too low...... 211 7.2.166 C4803 Cogging torque compensation: Inadmissible acceleration...... 211 7.2.167 C4804 Cogging torque comp.: Err. when storing corr. val table...... 211 7.2.168 C4805 Cogging torque comp.: Motor measuring system not homed...... 212 7.2.169 C5301 SERCOS III: Delay measurement failed...... 212 7.2.170 C6001 Measuring system unavailable...... 212 7.2.171 C6002 Absolute evaluation of measuring system impossible...... 213 7.2.172 C6003 Absolute encoder offset cannot be saved...... 213 7.2.173 C6004 Command cannot be executed under drive enable...... 213 7.2.174 C6101 Incorrect IP settings...... 213

Index...... 215 RE30159-WA Bosch Rexroth AG 13/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

General Information 1 General Information 1.1 About this Documentation Edition of this documentation

Edition Status Note

RE30159-WA 13.03.2012 First edition

Fig.1-1: Record of revisions 1.2 Documentation for HNC100-3X Documentation marked with the book symbol must be available to you before handling the product and must be observed:

Title Document number Document type

Digital drive controller for hydraulic Technical data sheet axes with sercos interface RE 30159 Available on the Internet at Type VT-HNC100.../S www.boschrexroth.com Digital drive controller for hydraulic Operating instructions axes with sercos interface RE 30159-B Available on the Internet at Type VT-HNC100...3X/S... www.boschrexroth.com Digital drive controller for hydraulic Parameter description drives with sercos interface RE 30159-PA Available on the Internet at Type VT-HNC100.-3X www.boschrexroth.com Digital drive controller for hydraulic Description of diagnostic message drives with sercos interface RE 30159-WA Available on the Internet at Type VT-HNC100.-3X www.boschrexroth.com

Declaration on environmental Environmental declaration compatibility for the areas EMC, RE 30139-U Available on the Internet at climate and mechanical load www.boschrexroth.com

Fig.1-2: Additional documentation 14/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X RE30159-WA Bosch Rexroth AG 15/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Important Directions for Use 2 Important Directions for Use 2.1 Appropriate Use 2.1.1 Introduction Rexroth products represent state-of-the-art developments and manufacturing. They are tested prior to delivery to ensure operating safety and reliability.

WARNING Personal injury and property damage caused by incorrect use of the products! The products have been designed for use in the industrial environment and may only be used in the appropriate way. If they are not used in the appropri‐ ate way, situations resulting in property damage and personal injury can oc‐ cur.

Rexroth as manufacturer is not liable for any damages resulting from inappropriate use. In such cases, the guarantee and the right to payment of damages resulting from inappropriate use are forfeited. The user alone carries all responsibility of the risks.

Before using Rexroth products, make sure that all the pre-requisites for an appropriate use of the products are satisfied: ● Personnel that in any way, shape or form uses our products must first read and understand the relevant safety instructions and be familiar with appropriate use. ● If the products take the form of hardware, then they must remain in their original state, in other words, no structural changes are permitted. It is not permitted to decompile software products or alter source codes. ● Do not mount damaged or faulty products or use them in operation. ● Make sure that the products have been installed in the manner descri‐ bed in the relevant documentation. 2.1.2 Areas of Use and Application drive controllers made by Rexroth are designed to control electrical motors and monitor their operation. Control and monitoring of the drive controllers may require additional sensors and actors.

The drive controllers may only be used with the accessories and parts specified in this documentation. If a component has not been specifically named, then it may neither be mounted nor con‐ nected. The same applies to cables and lines. Operation is only permitted in the specified configurations and combinations of components using the software and firmware as specified in the relevant Functional Descriptions.

drive controllers have to be programmed before commissioning, making it possible for the motor to execute the specific functions of an application. drive controllers of the HNC line have been developed for use in single- and multi-axis drive and control tasks. 16/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Important Directions for Use

To ensure application-specific use of drive controllers, device types of differ‐ ent drive power and different interfaces are available. Typical applications include, for example: ● Handling and mounting systems, ● Packaging and food machines, ● Printing and paper processing machines and ● Machine tools. drive controllers may only be operated under the assembly and installation conditions described in this documentation, in the specified position of normal use and under the ambient conditions as described (temperature, degree of protection, humidity, EMC, etc.). 2.2 Inappropriate Use Using the drive controllers outside of the operating conditions described in this documentation and outside of the indicated technical data and specifica‐ tions is defined as "inappropriate use". drive controllers must not be used, if ... ● they are subject to operating conditions that do not meet the specified ambient conditions. This includes, for example, operation under water, under extreme temperature fluctuations or extremely high maximum temperatures. ● Furthermore, drive controllers must not be used in applications which have not been expressly authorized by Rexroth. Please carefully follow the specifications outlined in the general Safety Instructions!

Components of the drive system HNC are products of category C3 (with restricted distribution) according to IEC 61800‑3. These components are not provided for use in a public low-voltage mains supplying residential areas. If these components are used in such a mains, high-frequency interference is to be expected. This can require additional measures of radio interference sup‐ pression. RE30159-WA Bosch Rexroth AG 17/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Safety Instructions for Electric and Hydraulic Drives and Controls 3 Safety Instructions for Electric and Hydraulic Drives and Controls 3.1 Definition of terms System A systems consists of several devices or systems that are connected for a specific purpose or at a certain location, but which are not to be introduced as a single functional unit. Electric drive system An electric drive system comprises all components, starting with the power supply up to the motor shaft; such as electric motor(s), motor encoder, supply and drive control devices as well as auxiliary and additional components, such as power filter, power choke, lines and cables. Hydraulic drive system A hydraulic drive system comprises all components, starting with the pres‐ sure supply up to the actual drive. Such as: Hydraulic cylinder, hydraulic mo‐ tors, hydraulic valves, hydraulic pumps, transducers as well as lines and ca‐ bles. User A user is the person installing, commissioning or using the introduced prod‐ uct. Application manual An application manual comprises the entire documentation. The documenta‐ tion provides information about the use and safety-relevant content for config‐ uration, assembly, installation, mounting, commissioning, operation, mainte‐ nance and repair as well as the shutting-down of the product. The following terms are also used: Operation manual, instructions, commissioning manual, instruction manual, project planning manual, etc. Electrical equipment An electric resource is an object used to generate, convert, transmit, distrib‐ ute or use electric energy, such as e.g. electric motors, transformers, control units, cables, lines, electric power consumption devices, assembled printed circuit board, plug-ins, equipment cabinets. Device The device is an end product with an individual function, intended for the user. It is distributed as individual commodity. Manufacturer A manufacturer is a natural person or a corporate body, responsible for con‐ struction and manufacturing of a product which is distributed in his name. The manufacturer can use end products, finished parts or components or he can subcontract work. However, the manufacturer has to be authorized to super‐ vise the manufacturing process of the products at all times and to assume product responsibility. Component A component is a combination of component parts with a defined function. The product elements are part of a resource, device or system. Components of the electric or hydraulic drive and control system: Supply and control units, controls, valves, motors, cables, etc. Machine A machine is comprised of interconnected parts or components out of which at least one has to be movable. Thus, a machine consists of machine drive elements as well as control and energy circuits that have been assembled to form a system. A machine can, for example, be intended for processing, han‐ dling, transport or packaging of material. The term "machine" also covers an assembly of machines that are positioned and open-loop controlled to func‐ tion as a uniform entity. Product Product examples: Device, component, component part, system, software, firmware, etc. Project planning manual A project planning manual is part of the application documentation to support the user during designing and planning of systems or machines. 18/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Safety Instructions for Electric and Hydraulic Drives and Controls

Qualified personnel Knowledge of electric installation, control technology, programming, hydraul‐ ics and the respective technical terms are required to use this manual. To en‐ sure the safe use, activities can only be carried out by a skilled person or a trained person, under supervision of a skilled person. A skilled person is de‐ fined as a person who can analyze the tasks assigned, detect potential sour‐ ces of danger and who can take adequate safety precautions, due to the technical training he received, his knowledge and experiences as well as his knowledge of relevant regulations. A skilled person has to comply with rele‐ vant technical regulations. Control system A control system comprises several control components that are interconnec‐ ted and which are not to be distributed as a single functional unit. 3.2 Basic Information 3.2.1 Using the Safety Instructions and Passing Them on to Third Parties Do not install or operate the product unless you have thoroughly read all en‐ closed documents. These safety instructions and all other information for the user are to be read prior to working with these components. If no user infor‐ mation about the components is available, please contact your Bosch Rexroth distribution partner. Please ask your distribution partner to immedi‐ ately provide these documents to the person in charge of safe operation of the components. In case of sale, rental and/or other ways of passing on the component, these safety instructions have to be provided in the national language of the user. Unintended use of these components and non-compliance with the specified safety instructions as well as tampering with the safety device can result in material damage, bodily injury, electric shock or, in the extreme case, in death.

3.2.2 Requirements for Safe Use Please read the following information before the initial commissioning of the product components to avoid bodily injuries and/or material damage. The safety instructions have to be complied with. ● Bosch Rexroth does not assume any liability in case of damages due to a non-compliance with the safety instructions. ● Before commissioning, the operating, maintenance and safety instruc‐ tions have to be read. If the user documentation is ambiguous in the available language, please contact your supplier. ● The correct and safe operation of the component requires appropriate and professional transport, storage, mounting, installation as well as op‐ eration and maintenance. ● Only qualified personnel is authorized to work on the product compo‐ nent or in proximity to the product component. ● Only use accessories and spare parts approved by Bosch Rexroth. ● Please comply with the safety instructions and regulations of the country in which the components of the electric drive and control system are op‐ erated. ● Only operate the product in the intended use. See chapter "Intended Use". ● The ambient conditions as well as the conditions of use specified in this application manual have to be complied with. RE30159-WA Bosch Rexroth AG 19/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Safety Instructions for Electric and Hydraulic Drives and Controls

● Applications for functional safety are only permitted if they are explicitly and unambiguously specified in the user documentation "Integrated Safety Engineering". If this is the case, the applications are excluded. Functional safety contains part of the overall safety in which measures to minimize the risks for operator protection depend on electric, elec‐ tronic or programmable controls. ● The specifications listed in the user documentations regarding the use of supplied components are only use cases and recommendations. The machine manufacturer and the system installer have to verify the compatibility of the – supplied components and the specification about the use of the components made in this application manual himself; – he has to adapt the safety instructions and standards applicable to his application and he has to execute the required measures, changes and extensions. ● The commissioning of the supplied components is not permitted unless it has been verified that the machine or the system, in which the compo‐ nents are installed, complies with the country-specific regulations, safety instructions and standards of the application. ● Operation of the components is only permitted in case of compliance with the national EMC regulations for the application. ● Please refer to the relevant application manual for information about an EMC-compliant installation, contained in the EMC section. The manufacturer of the system or the machine is obliged to ensure the compliance with limit values, specified by national statutory provisions. ● The technical data and the connection and installation conditions of the components can be taken from the relevant application manual and have to be complied with. ● Before commissioning the control with a hydraulic system, please refer to and comply with the safety-relevant information and risk specifica‐ tions in the instructions of the manufacturer of the hydraulic system. Country-specific regulations the user has to comply with ● European countries: according to Eurocodes EN ● United States of America (USA): – National Electric Code (NEC) – National Electrical Manufacturers Association (NEMA) as well as local building specifications – Regulations of the National Fire Protection Association (NFPA) ● Canada: Canadian Standards Association (CSA) ● Other countries: – International Organization for Standardization (ISO) – International Electrotechnical Commission (IEC)

3.2.3 Hazards due to Improper Use ● High voltage and high operating current! Danger to life or serious injury by electric shock! ● High voltage due to incorrect connection! Danger to life or injury by elec‐ tric shock! 20/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Safety Instructions for Electric and Hydraulic Drives and Controls

● Dangerous movements! Danger to life, serious injury or material dam‐ age due to unintended drive motions because of misuse or incorrect ac‐ tuation! ● Health hazard for persons with cardiac pacemakers, metallic implants and hearing aids in close proximity of electric drive systems! ● Risk of burns by hot housing surfaces! ● Risk of injury by improper handling! Injury by crushing, shearing, cutting, hitting! ● Risk of injury by improper handling of batteries! ● Risk of injury by improper handling of pressurized lines and compo‐ nents!

RE30159-WA Bosch Rexroth AG 21/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Safety Instructions for Electric and Hydraulic Drives and Controls 3.3 Hazard-related Instructions 3.3.1 Protection Against Contact with Electrical Parts and Housings

This section is related to components of the electric drive and control system with voltages exceeding 50 volt.

Contact with parts conducting voltages above 50 volt can cause personal danger and electric shock. When operating components of the electric drive and control system, it is unavoidable that some parts of these components conduct dangerous voltage.

High electric voltage! Danger to life, risk of injury by electric shock or serious injury! ● Only qualified personnel is allowed to operate, maintain and/or repair the electric components of the drive and control system. ● Follow the general installation and safety regulations when working at high voltage units. ● Before switching the machine on, the grounding conductor must be se‐ curely connected to all electric components in accordance with the con‐ nection diagram. ● Even for brief measurements or tests, operation is only allowed if the equipment grounding conductor has been permanently connected to the points of the components. ● Before accessing electric parts with voltage potentials higher than 50 V, disconnect electric components from the mains or from the power sup‐ ply unit. Secure the electric component against reconnection. ● For electric components, note the following: Always wait for 30 minutes after switching off power to allow live capaci‐ tors to discharge before accessing an electric component. Measure the electric voltage of live parts before operation to ensure that the equip‐ ment is safe to touch. ● Install the covers and guards provided before switching on. ● Never touch electric connection points of the components while the ma‐ chine is switched on. ● Do not remove or plug in connectors when the machine is connected. ● Electric drive systems can be operated at power supply systems under certain conditions, if protected by sensitive residual-current devices (RCD/RCM). ● Secure built-in devices from penetrating foreign objects and water, as well as from direct contact, by providing an external housing, for exam‐ ple a control cabinet.

High housing voltage and high leakage current! Danger to life, risk of injury by electric shock! ● Before switching on and before commissioning, ground or connect the components of the drive and control system to the grounding conductor at the grounding points. ● Connect the grounding conductor of the components of the drive and control system permanently to the main power supply at all times. The leakage current is greater than 3.5 mA. 22/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Safety Instructions for Electric and Hydraulic Drives and Controls

● Establish a quipment grounding conductor connection with a minimum cross section according to the following table. For an external conductor connection shorter than 10 mm2, a connection of two quipment ground‐ ing conductors is optional. Both connections have the same cross sec‐ tion as the external conductors.

Cross section of the exter‐ Minimum cross section of the grounding conductor nal conductor Leakage current ≥ 3.5 mA 1 protective earth conduc‐ 2 protective earth conduc‐ tor tors

1.5 mm2 (AWG 16) 2 × 1.5 mm2 (AWG 16)

2.5 mm2 (AWG 14) 2 × 2.5 mm2 (AWG 14)

4 mm2 (AWG 12) 10 mm2 (AWG 8) 2 × 4 mm2 (AWG 12)

6 mm2 (AWG 10) 2 × 6 mm2 (AWG 10)

10 mm2 (AWG 8) -

16 mm2 (AWG 6) -

25 mm2 (AWG 4) 16 mm2 (AWG 6) -

35 mm2 (AWG 2) -

50 mm2 (AWG 1/0) 25 mm2 (AWG 4) -

70 mm2 (AWG 2/0) 35 mm2 (AWG 2) - ......

Fig.3-1: Minimum cross section of a grounding conductor connection

3.3.2 Protective Extra-Low Voltage as Protection Against Electric Shock The safety extra-low voltage is used to connect devices with basic insulation to extra-low voltage circuits. All connections and terminals with voltages from 5 to 50 Volt are designed as protective extra low voltage ("Protective Extra Low Voltage - PELV") at the components of Bosch Rexroth drive and control systems. Devices equipped with basic insulation such as programming devices, PCs, notebooks and indi‐ cator units can be connected to these contacts.

Danger to life, risk of injury by electric shock! High voltage due to incorrect connection! If extra low voltage circuits of devices that also contain voltages and electric circuits (e.g. the power supply) are connected to Bosch Rexroth products, the connected low voltage circuits have to comply with the requirements for ("Protective Extra Low Voltage - PELV").

3.3.3 Protection Against Dangerous Movements Dangerous movements can be caused by incorrect actuation of connected drives. The reasons can vary: ● Improper or incorrect wiring or cabling ● Operator error RE30159-WA Bosch Rexroth AG 23/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Safety Instructions for Electric and Hydraulic Drives and Controls

● Incorrectly entered parameters prior to commissioning ● Errors in transducers and signal generators ● Defective components ● Errors in software or firmware These errors can occur immediately after switch on or after an indefinite time during the operation. Monitorings in the components of the electric drive and control system rule a malfunction in the connected drives out, to the greatest possible extend. With regard to operator protection and especially with regard to danger to life and/or material damage, it is critical to only rely on the monitoring functions. Incorrect drive movements can occur until the installed monitoring system be‐ comes active. The incorrect axis movement depends on the control type and the operating state.

Dangerous movements! Life-threatening danger, risk of injury, severe bodily harm or material damage! A risk assessment is required for the system or the machine and their specific features, in which the components of electric drive and control systems are to be installed. The user has to provide monitoring and measures for operator protection, de‐ pending on the result of the risk assessment. The safety instructions of the system or the machine also have to be taken into consideration. By disabling, avoiding or not enabling the safety devices, random machine motions or mal‐ functions can occur. In case of malfunctions impairing the safety, immediately stop the product and inform the responsible personnel about the malfunction. Avoiding accidents, danger to life and/or material damage. ● The controls as such do not contain any safety function for personal safety and do not constitute safety-relevant components ● Keep away from the motion range of a machine and machine parts. Pre‐ vent accidental access of persons, e.g. by – a safety fence – a guard – a protective cover – a photoelectric barrier ● Ensure a sufficient stability of safety fences and protective covers against the maximum possible kinetic energy. ● Install an EMERGENCY STOP switch. The switch has to be within quick and easy reach. Check, if the EMERGENCY STOP is working, before commissioning the system or the machine. Do not operate the machine in case of a malfunction of the EMERGENCY STOP switch. ● Ensure that the machine cannot be switched on accidentally. Discon‐ nect the drives using the contact breaker, disconnect the hydraulic sys‐ tem.Make sure that there is no more pressure on the system or use a safe interlock. ● Stop the drives before accessing the hazard area. ● Vertical axes have to be additionally protected against drawdown after the motor has been switched off, e.g. by – mechanic locking by the vertical axis, 24/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Safety Instructions for Electric and Hydraulic Drives and Controls

– external deceleration/interception system/clamping unit or – or sufficient weight counterbalance of the axis. ● The motor holding brake, which is part of the standard electric drive sys‐ tem, or an external holding brake, open loop-controlled by the drive con‐ troller alone is not suitable for operator protection! ● Disconnect all relevant system parts via the main switch, depressurize the hydraulic systems and provide a safeguard to prevent unintentional restart: – Service and maintenance – Cleaning – Long service interruptions ● Avoid the use of high-frequency and remote control installations as well as radio units in close proximity of the components of the electric and hydraulic drive and control system and its leads. If use of these devices cannot be avoided, check the machine or the system for potential mal‐ functions in case of operation of high-frequency, remote control installa‐ tions or radio units upon the initial operation of the electric or hydraulic drive and control system. An EMC check might be required.

3.3.4 Protection Against Magnetic and Electromagnetic Fields During Oper‐ ation and Mounting Magnetic and electromagnetic fields, which exist in the immediate proximity of current-carrying leads and permanent magnets of electric motors, can con‐ stitute a serious danger for persons with cardiac pacemakers, metal implants and hearing aids. Health hazard for persons with cardiac pacemakers, metal implants and hearing aids in close proximity of electric drive systems! ● Persons with cardiac pacemakers and metal implants are not allowed to enter the following areas: – Areas in which components of the electric drive and control sys‐ tems are mounted, commissioned and operated – Areas in which motor parts with permanent magnets are stored, re‐ paired or mounted ● If persons with cardiac pacemakers are required to access these areas, a doctor has to decide whether this is possible or not. The noise immun‐ ity of implanted cardiac pacemakers varies considerably; thus, there are no generally applicable rules. ● Persons with metal implants or persons who have metal fragments in their body or who have a hearing aid are required to consult with a doc‐ tor before accessing these areas.

3.3.5 Protections Against Contact with Hot Parts Hot component surfaces of electric or hydraulic drive and control systems. Risk of burns! ● Avoid touching hot surfaces! Temperatures of surfaces can rise to more than 60 °C (140 °F) during or after the operation, depending on the ope‐ rating conditions RE30159-WA Bosch Rexroth AG 25/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Safety Instructions for Electric and Hydraulic Drives and Controls

● Before touching the motors, let them cool down sufficiently after they have been switched off. Cooling down times can amount to up to 140 minutes! ● Before touching the components, let them cool down for at least 15 mi‐ nutes before touching them. ● Wear utility gloves and do not work on hot surfaces. ● For certain applications, measures to prevent burns in the end applica‐ tion have to be taken by the machine or system manufacturer according to the safety instructions. Possible measures: Warnings at the machine or the system, separating safeguards (shielding or shut-off devices) or safety instructions in the user documentation.

3.3.6 Protection During Handling and Mounting Risk of injury by improper handling! Injury by crushing, shearing, cutting, hit‐ ting! ● Note the relevant statutory regulations of accident prevention. ● Use suitable equipment for mounting and transport. ● Avoid jamming and crushing by taking appropriate measures. ● Always use suitable tools. Use special tools, if mandatory. ● Use lifting equipment and tools in a technically correct manner . ● Use suitable protective equipment (hard hat, safety goggles, safety shoes, safety gloves, for example). ● Do not stand under hanging loads. ● Immediately clean up any spilled liquids from the floor due to risk of slip‐ ping!

3.3.7 Battery Safety Batteries consist of active chemicals and a solid housing. Improper use can thus result in injuries or material damage. Risk of injury by improper handling! ● Do not attempt to reactivate empty batteries by heating or other meth‐ ods (explosion hazard and cauterization). ● Never attempt to recharge batteries, as this may cause battery leakage or can cause the battery to explode. ● Do not dispose of batteries in fire. ● Do not disassemble batteries. ● Do not damage electric device components when exchanging the bat‐ tery(ies). ● Only use the battery types recommended for the product.

Environmental protection and disposal! The batteries contained in the product are considered dangerous goods under legal condi‐ tions and regulations in case of overland, air or marine transport (explosion hazard). Dispose of used batteries separately from other waste. Comply with the national regulations of your country.

26/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Safety Instructions for Electric and Hydraulic Drives and Controls

3.3.8 Protection Against Pressurized Lines According to the information given in the project planning manuals, motors and components as well as hydraulic components cooled with liquids and compressed air can be supplied with externally fed, pressurized media, such as compressed air, hydraulic oil, cooling liquids and cooling lubricants. Im‐ proper handling of the connected supply systems, supply lines or connections can cause injuries or property damage. Risk of injury by improper handling of pressurized lines! ● Do not attempt to disconnect, open or cut pressurized lines (risk of oil jet shooting out of the lines). ● Comply with the respective manufacturer's operating instructions. ● Depressurize the lines at the respective machine part before disassem‐ bling the machine and discharge the fluid. ● Use suitable protective equipment (safety goggles, safety shoes, safety gloves, for example). ● Immediately clean up any spilled liquids from the floor due to risk of slip‐ ping!

Environmental protection and disposal! The media used for the operation of the product might not be environmentally-compliant. Dispose of ecologically harmful media separately from other waste. Comply with the national regulations of your country.

3.4 Explanation of Signal Words and the Safety Alert Symbol The Safety Instructions in the available application documentation contain specific signal words (DANGER, WARNING, CAUTION or NOTICE) and, where required, a safety alert symbol (in accordance with ANSI Z535.6-2011). The signal word is meant to draw the reader's attention to the safety instruc‐ tion and identifies the hazard severity. The safety alert symbol (a triangle with an exclamation point), which pre‐ cedes the signal words DANGER, WARNING and CAUTION, is used to alert the reader to personal injury hazards.

DANGER In case of non-compliance with this safety instruction, death or serious injury will occur.

WARNING In case of non-compliance with this safety instruction, death or serious injury could occur.

CAUTION In case of non-compliance with this safety instruction, minor or moderate in‐ jury could occur. RE30159-WA Bosch Rexroth AG 27/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Safety Instructions for Electric and Hydraulic Drives and Controls

NOTICE In case of non-compliance with this safety instruction, property damage could occur. 28/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X RE30159-WA Bosch Rexroth AG 29/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx) 4 Status Diagnoses (Axxxx) 4.1 A0000 Communication phase 0 Allocation Contained in 06VRS: «HDH»

The communication between master and slaves via SERCOS interface is es‐ tablished in four communication phases: The communication phases 0 and 1 are used to recognize the bus nodes. In the communication phase 2 the time and data build-up of the protocols are prepared for the communication phases 3 and 4. The phase progression takes place in ascending order. The communication phase is set by the master. Switching to communication phase 4 completes the initialization and allows power input. If the phase progression is interrupted, the status display remains in the com‐ munication phase that has been reached. When the "A0000 Communication phase 0" diagnostic message is active the drive is in phase 0 and waits for the master's phase switch from communica‐ tion phase 0 to 1.

On the display of Rexroth IndraDrive supply units, the text "VM" ("Versorgungs-Modul" = supply module) precedes the diagnostic message. 4.2 A0001 Communication phase 1 Allocation Contained in 06VRS: «HDH»

The communication between master and slaves via SERCOS interface is es‐ tablished in four communication phases: The communication phases 0 and 1 are used to recognize the bus nodes. In the communication phase 2 the time and data build-up of the protocols are prepared for the communication phases 3 and 4. The phase progression takes place in ascending order. The communication phase is set by the master. Switching to communication phase 4 completes the initialization and allows power input. If the phase progression is interrupted, the status display remains in the com‐ munication phase that has been reached. When the "A0001 Communication phase 1" diagnostic message is active the drive is in phase 1, the master has not yet activated the phase switch form phase 1 to 2.

On the display of Rexroth IndraDrive supply units, the text "VM" ("Versorgungs-Modul" = supply module) precedes the diagnostic message. 4.3 A0002 Communication phase 2 Allocation Contained in 06VRS: «HDH»

Communication phase 2 means that the drive is in the parameterization mode. In this mode many parameters can be written that cannot be written any more in communication phase 4 (operating mode). In communication phase 2 30/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

● the communication parameters are usually transmitted from the master to the drive (in the case of field bus and SERCOS devices) and ● the "Load drive parameters" and "Save drive parameters" ("file service") functions are carried out, if required. In order to get to communication phase 2 the master, in the case of drives with field bus and SERCOS interfaces, sets "communication phase 2" via the master communication interface. Another possibility to switch to communica‐ tion phase 2 is to execute the "P‑0‑4023, C0400 Communication phase 2 transition" command. Communication Phase 3 Before it is possible to switch to communication phase 3 it is necessary to execute the "S‑0‑0127, C0100 Communication phase 3 transition check" command. Among other things the drive, during the transition check, checks the parameters required for communication phase 3 for validity. After successful execution of the transition check command the master switches the drive to communication phase 3 (in the case of field bus and SERCOS devices) or the drive automatically switches to phase 3 at the end of the transition check command.

On the display of Rexroth IndraDrive supply units, the text "VM" ("Versorgungs-Modul" = supply module) precedes the diagnostic message. 4.4 A0003 Communication phase 3 Allocation Contained in 06VRS: «HDH»

Communication phase 3 means that the drive is in the restricted parameteri‐ zation mode. In this mode, as in the parameterization mode (phase 2), many parameters can still be written that cannot be written any more in communi‐ cation phase 4 (operating mode). Communication parameters cannot be writ‐ ten in phase 3. In order to get to communication phase 3 the master, in the case of drives with field bus and SERCOS interfaces, sets "communication phase 3" via the master communication interface. Another possibility to switch to communica‐ tion phase 3 is to execute the "S‑0‑0127, C0100 Communication phase 3 transition check" command. Communication Phase 4 Before it is possible to switch to communication phase 4 it is necessary to execute the "S‑0‑0128, C0200 Communication phase 4 transition check" command. Among other things the drive, during the transition check, checks the parameters required for communication phase 4 for validity. After successful execution of the transition check command the master switches the drive to communication phase 4 (in the case of field bus and SERCOS devices) or the drive automatically switches to phase 4 at the end of the transition check command.

On the display of Rexroth IndraDrive supply units, the text "VM" ("Versorgungs-Modul" = supply module) precedes the diagnostic message. 4.5 A0009 Automatic baud rate detection for SERCOS interface Allocation Contained in 06VRS: «HDH»

The communication between master and slaves via SERCOS interface is es‐ tablished in four communication phases: RE30159-WA Bosch Rexroth AG 31/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

The communication phases 0 and 1 are used to recognize the bus nodes. In the communication phase 2 the time and data build-up of the protocols are prepared for the communication phases 3 and 4. The phase progression takes place in ascending order. The communication phase is set by the master. Switching to communication phase 4 completes the initialization and allows power input. If the phase progression is interrupted, the status display remains in the com‐ munication phase that has been reached. If the "A0009 Automatic baud rate detection for SERCOS interface" diagnos‐ tic message is active, the drive is in phase 0 ‑ 1, the progression to phase 0 is carried out at the moment when the correct baud rate is detected. 4.6 A0010 Drive HALT Allocation Contained in 06VRS: «HDH»

Function "Drive Halt" is indirectly activated by the master via the master com‐ munication interface by deleting the Drive Halt bit in parameter "S‑0‑0134, Master control word" or by interrupting a drive control command (e.g., drive- controlled homing procedure). The "Drive Halt" function is used to shut down an axis with defined accelera‐ tion and defined jerk. Function "Drive Halt" can be executed as quick stop in position control or ve‐ locity control mode or as operational stop in the active operation mode with velocity command value reset [see configuration "Drive Halt" (P‑0‑0558)]. See also Functional Description of firmware "Drive Halt" 4.7 A0011 Starting lockout active Allocation Contained in 06VRS: «HDH»

As an option, certain digital drive controllers can be equipped with a drive in‐ terlock. The drive interlock prevents the unintended start of a servo axis. This is realized by separating the electronic control system of the power output stage from the power output stage by means of a relay contact. See also Project Planning Manual Control Section, keyword "Drive interlock" 4.8 A0012 Control and power sections ready for operation Allocation Contained in 06VRS: «HDH»

For HMS, HMD, HCS The diagnostic message "A0012 Control and power sections ready for operation" signals that the drive has been supplied with control voltage and power has been switched on. The drive is ready for power output. For HMV The diagnostic message "A0012 Control and power sections ready for operation" signals that the supply unit is ready to switch on the mains contac‐ tor. 32/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

Mains contactor cannot be switched on in spite of "VM bb" ! In spite of the display "VM Bb" or "VM bb", it can sometimes be impossible to switch the mains contactor on. Possible cause: This can be caused by a defective external mains contactor with, for example, contacts stuck together. The error message "F2837 Contactor monitoring error" cannot be diagnosed in such cases. With contacts of the main circuit stuck together, the N/C contact (X40.1/2) remains open in the position of rest and the switch-on circuit is thereby interrupted. Remedy: Check and, if necessary, replace the external mains contactor. 4.9 A0013 Ready for power on Allocation Contained in 06VRS: «HDH»

The diagnostic message "A0013 Ready for power on" signals that the drive or supply unit has been provided with control voltage and that there isn't any error present in the drive/supply unit. The drive or the supply unit is ready for power on.

Mains contactor cannot be switched on in spite of "VM bb" ! In spite of the display "VM Bb" or "VM bb", it can sometimes be impossible to switch the mains contactor on. Possible cause: This can be caused by a defective external mains contactor with, for example, contacts stuck together. The error message "F2837 Contactor monitoring error" cannot be diagnosed in such cases. With contacts of the main circuit stuck together, the N/C contact (X40.1/2) remains open in the position of rest and the switch-on circuit is thereby interrupted. Remedy: Check and, if necessary, replace the external mains contactor. 4.10 A0014 Drive interlock active Allocation Contained in 06VRS: «HDH»

The drive is in the "special mode standstill". The active safety function is "safety related drive interlock".

If the safety function "safety related drive interlock" is active, this is displayed on the control panel of the drive with "ASP" (Antriebssperre = drive interlock). Bit 1 is set in parameter "P‑0‑3213, Safety technology status".

The drive has come to standstill, the power supply has been interrupted via two channels (output stage locked). RE30159-WA Bosch Rexroth AG 33/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

DANGER Dangerous movements! Danger to life, dan‐ ger of injury, severe bodily injury or property damage! ⇒ After the output stage has been locked, standstill monitoring is not active. If external force influences are to be expected, e.g. in the case of a vertical ax‐ is, this motion has to be safely prevented by additional measures, e.g. a me‐ chanical brake or weight compensation.

The safety function "safety related drive interlock" cannot be deselected by the enabling control but only by resetting the selection. 4.11 A0015 Safety related standstill active Allocation Contained in 06VRS: «HDH»

The drive is in the "special mode standstill". The active safety function is "safety related standstill".

If the safety function "safety related standstill" is active, this is dis‐ played on the control panel of the drive with "SH" (Sicherer Halt = safety related standstill). Bit 2 is set in parameter "P‑0‑3213, Safety technology status".

The drive has come to standstill, the power supply has been interrupted via two channels (output stage locked). If the drive is still in motion when "safety related standstill" is selected, there first is a stopping process, then the power supply is interrupted via two chan‐ nels (output stage locked).

4.12 A0016 Safety related operational stop active Allocation Contained in 06VRS: «HDH»

The drive is in the "special mode standstill". The active safety function is "safety related operational stop".

If the safety function "safety related operational stop" is active, this is displayed on the control panel of the drive with "SBH" (Sicherer Betriebshalt = safety related operational stop). Bit 2 is set in parameter "P‑0‑3213, Safety technology status".

The drive has come to standstill, the power supply has not been interrupted, all control loops are active, the standstill monitors are active. If the drive is still in motion when "safety related operational stop" is selected, there first is a stopping process, then the standstill monitors become active 34/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

(axis/spindle cannot be moved). When the drive leaves the standstill position, the output stage is locked via two channels.

4.13 A0018 Special mode motion 1 active Allocation Contained in 06VRS: «HDH»

The drive is in the special mode "safety related motion 1" that can be config‐ ured and selected. By means of the parameter "P‑0‑3240, Control word for safety related mo‐ tion 1" it is possible to configure different characteristics of the special mode "safety related motion 1". When a limit value of the configured and selected safety functions has been exceeded, the drive system is brought to standstill in a safety-related way, then the power supply is interrupted via two channels (output stage locked).

DANGER Dangerous movements! Danger to life, risk of injury, severe bodily harm or material dam‐ age! ⇒ After the output stage has been locked, standstill monitoring is not active. If external force influences are to be expected, e.g. in the case of a vertical ax‐ is, this motion has to be safely prevented by additional measures, e.g. a me‐ chanical brake or weight compensation.

Bit 3 is set in parameter "P‑0‑3213, Safety technology status" (or "P‑0‑3213, Safety technology operating status").

With the safety function "safety related reduced speed", the Safety related reduced speed drive can only be moved with reduced speed. The speed monitors are active. The safety function is in preparation for firmware version Safety related monitored acceleration/deceleration ramp MP*06VRS. With the safety function "safety related direction of motion" Safety related direction of motion selected, the drive can only move in a determined direction with reduced speed. The speed monitors are active. RE30159-WA Bosch Rexroth AG 35/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

With the safety function "safety related limited increment" se‐ lected, the drive may only travel a maximum of one fixed in‐ Safety related limited increment crement after the special mode was selected. The drive moves at reduced speed. The speed and position monitors are active. With the safety function "safety related limited absolute posi‐ tion", absolute position monitors are active. The drive may on‐ ly move within the range limits. Safety related limited absolute position NOTE: Before the safety function "safety related limited abso‐ lute position" is selected, the "safety related homing proce‐ dure" has to be carried out.

4.14 A0019 Special mode motion 2 active Allocation Contained in 06VRS: «HDH»

The drive is in the special mode "safety related motion 2" that can be config‐ ured and selected. By means of the parameter "P‑0‑3250, Control word for safety related mo‐ tion 2" it is possible to configure different characteristics of the special mode "safety related motion 2". When a limit value of the configured and selected safety functions has been exceeded, the drive system is brought to standstill in a safety-related way, then the power supply is interrupted via two channels (output stage locked).

Bit 4 is set in parameter "P‑0‑3213, Safety technology status" (or "P‑0‑3213, Safety technology operating status").

With the safety function "safety related reduced speed", the Safety related reduced speed drive can only be moved with reduced speed. The speed monitors are active. The safety function is in preparation for firmware version Safety related monitored acceleration/deceleration ramp MP*06VRS. With the safety function "safety related direction of motion" Safety related direction of motion selected, the drive can only move in a determined direction with reduced speed. The speed monitors are active. 36/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

4.15 A0020 Special mode motion 3 active Allocation Contained in 06VRS: «HDH»

The drive is in the special mode "safety related motion 3" that can be config‐ ured and selected. By means of the parameter "P‑0‑3260, Control word for safety related mo‐ tion 3" it is possible to configure different characteristics of the special mode "safety related motion 3". When a limit value of the configured and selected safety functions has been exceeded, the drive system is brought to standstill in a safety-related way, then the power supply is interrupted via two channels (output stage locked).

Bit 5 is set in parameter "P‑0‑3213, Safety technology status" (or "P‑0‑3213, Safety technology operating status").

With the safety function "safety related reduced speed", the Safety related reduced speed drive can only be moved with reduced speed. The speed monitors are active. The safety function is in preparation for firmware version Safety related monitored acceleration/deceleration ramp MP*06VRS. With the safety function "safety related direction of motion" Safety related direction of motion selected, the drive can only move in a determined direction with reduced speed. The speed monitors are active. RE30159-WA Bosch Rexroth AG 37/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

4.16 A0021 Special mode motion 4 active Allocation Contained in 06VRS: «HDH»

The drive is in the special mode "safety related motion 4" that can be config‐ ured and selected. By means of the parameter "P‑0‑3270, Control word for safety related mo‐ tion 4" it is possible to configure different characteristics of the special mode "safety related motion 4". When a limit value of the configured and selected safety function has been exceeded, the drive system is brought to standstill in a safety-related way, then the power supply is interrupted via two channels (output stage locked).

Bit 6 is set in parameter "P‑0‑3213, Safety technology status" (or "P‑0‑3213, Safety technology operating status").

With the safety function "safety related reduced speed", the Safety related reduced speed drive can only be moved with reduced speed. The speed monitors are active. The safety function is in preparation for firmware version Safety related monitored acceleration/deceleration ramp MP*06VRS. With the safety function "safety related direction of motion" Safety related direction of motion selected, the drive can only move in a determined direction with reduced speed. The speed monitors are active. 38/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

4.17 A0050 Parameterization level 1 active Allocation Contained in 06VRS: «HDH»

The drive is in the "Parameterization level 1" mode. In this status, the moni‐ toring functions of the position encoders and the motor temperature sensor are deactivated. Although the master communication is in communication phase 4, the drive can be parameterized as in communication phase 3.

This status is displayed on the control panel of the drive with "PM".

See also Functional Description of firmware "Parking Axis" See also Parameter Description "S‑0‑0420, C0400 Activate parameterization level 1 procedure command" 4.18 A0051 Operating mode Allocation Contained in 06VRS: «HDH»

The axis was switched to operating mode, but the master communication is not yet in cyclic data exchange. Axis control is not yet possible in this status. 4.19 A0100 Torque control Allocation Contained in 06VRS: «HDH»

The drive is in the "Torque control" mode. It follows the torque command val‐ ue characteristic set by the master. See also Functional Description of firmware "Torque/Force Control" 4.20 A0101 Velocity control Allocation Contained in 06VRS: «HDH»

The drive is in the "Velocity control" mode. It follows the speed command val‐ ue characteristic set by the master. The speed control loop is closed in the drive. See also Functional Description of firmware "Velocity Control" 4.21 A0102 Position mode, encoder 1 Allocation Contained in 06VRS: «HDH» RE30159-WA Bosch Rexroth AG 39/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

The drive is in position control. The position control loop is closed by means of a position encoder in the drive. The master only specifies the position com‐ mand value characteristic, the drive follows the command value with a lag error. "Encoder 1" means that the encoder assigned by means of "P‑0‑0077, As‐ signment motor encoder‑>optional slot" is used as a control encoder. See also Functional Description of firmware "Position Control with Cyclic Command Value Input" 4.22 A0103 Position mode, encoder 2 Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed by means of a position encoder in the drive. The master only specifies the position com‐ mand value characteristic, the drive follows the command value with a lag error. "Encoder 2" means that the encoder assigned by means of "P‑0‑0078, As‐ signment optional encoder‑>optional slot" is used as a control encoder. See also Functional Description of firmware "Position Control with Cyclic Command Value Input" 4.23 A0104 Position mode lagless, encoder 1 Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed by means of a position encoder in the drive. The master only specifies the position com‐ mand value characteristic, the drive follows the command value laglessly (prerequisite: "P‑0‑0040, Velocity feedforward evaluation"=100%). "Encoder 1" means that the encoder assigned by means of "P‑0‑0077, As‐ signment motor encoder‑>optional slot" is used as a control encoder. See also Functional Description of firmware "Position Control with Cyclic Command Value Input" 4.24 A0105 Position mode lagless, encoder 2 Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed by means of a position encoder in the drive. The master only specifies the position com‐ mand value characteristic, the drive follows the command value laglessly (prerequisite: "P‑0‑0040, Velocity feedforward evaluation"=100%). "Encoder 2" means that the encoder assigned by means of "P‑0‑0078, As‐ signment optional encoder‑>optional slot" is used as a control encoder. See also Functional Description of firmware "Position Control with Cyclic Command Value Input" 4.25 A0106 Drive-internal interpolation, encoder 1 Allocation Contained in 06VRS: «HDH»

From the control unit the drive receives a position command value identical to the target position of the distance to be traveled. The drive then generates (interpolates) an internal position command value characteristic that complies 40/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

with the maximum values for the jerk, acceleration and velocity characteristic determined by the master. With a lag error the drive moves to the target position. "Encoder 1" means that the encoder assigned by means of "P‑0‑0077, As‐ signment motor encoder‑>optional slot" is used as a control encoder. See also Functional Description of firmware "Drive Internal Interpolation" 4.26 A0107 Drive-internal interpolation, encoder 2 Allocation Contained in 06VRS: «HDH»

From the master the drive receives a position command value identical to the target position of the distance to be traveled. The drive then generates (inter‐ polates) an internal position command value characteristic that complies with the maximum values for the jerk, acceleration and velocity characteristic de‐ termined by the master. With a lag error the drive moves to the target position. "Encoder 2" means that the encoder assigned by means of "P‑0‑0078, As‐ signment optional encoder‑>optional slot" is used as a control encoder. See also Functional Description of firmware "Drive Internal Interpolation" 4.27 A0108 Drive controlled interpolation, lagless, encoder 1 Allocation Contained in 06VRS: «HDH»

From the master the drive receives a position command value identical to the target position of the distance to be traveled. The drive then generates (inter‐ polates) an internal position command value characteristic that complies with the maximum values for the jerk, acceleration and velocity characteristic de‐ termined by the master. The drive laglessly moves to the target position (prerequisite: "P‑0‑0040, Ve‐ locity feedforward evaluation"=100%). "Encoder 1" means that the encoder assigned by means of "P‑0‑0077, As‐ signment motor encoder‑>optional slot" is used as a control encoder. See also Functional Description of firmware "Drive Internal Interpolation" 4.28 A0109 Drive controlled interpolation, lagless, encoder 2 Allocation Contained in 06VRS: «HDH»

From the master the drive receives a position command value identical to the target position of the distance to be traveled. The drive then generates (inter‐ polates) an internal position command value characteristic that complies with the maximum values for the jerk, acceleration and velocity characteristic de‐ termined by the master. The drive laglessly moves to the target position (prerequisite: "P‑0‑0040, Ve‐ locity feedforward evaluation"=100%). "Encoder 2" means that the encoder assigned by means of "P‑0‑0078, As‐ signment optional encoder‑>optional slot" is used as a control encoder. See also Functional Description of firmware "Drive Internal Interpolation" RE30159-WA Bosch Rexroth AG 41/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx) 4.29 A0110 Velocity synchronization, virtual master axis Allocation Contained in 06VRS: «HDH»

The drive is in velocity control. Taking the gear ratio and the master axis posi‐ tion into account, the command velocity is determined in the drive. "Virtual master axis" means that the master axis position is calculated by the control unit. See also Functional Description of firmware "Velocity Synchronization with Real/Virtual Master Axis" 4.30 A0111 Velocity synchronization, real master axis Allocation Contained in 06VRS: «HDH»

The drive is in velocity control. The velocitiy command value is derived from the master axis position. The master axis position is generated by the meas‐ uring encoder. See also Functional Description of firmware "Velocity Synchronization with Real/Virtual Master Axis" 4.31 A0112 Phase synchronization, encoder 1, virtual master axis Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed by means of a position encoder in the drive. Taking the gear ratio and the master axis position into account, the position command value is determined in the drive. The drive follows the command value with a lag distance. "Encoder 1" means that the position encoder is mounted to the motor shaft (indirect measuring of the axis position). "Virtual master axis" means that the master axis position is calculated by the control unit. See also Functional Description of firmware "Phase Synchronization with Re‐ al/Virtual Master Axis" 4.32 A0113 Phase synchronization, encoder 2, virtual master axis Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed by means of a position encoder in the drive. Taking the gear ratio and the master axis position into account, the position command value is determined in the drive. The drive follows the command value with a lag distance. "Encoder 2" means that the position encoder is mounted to the machine axis (direct measuring of the axis position). "Virtual master axis" means that the master axis position is calculated by the control unit. See also Functional Description of firmware "Phase Synchronization with Re‐ al/Virtual Master Axis" 4.33 A0114 Phase synchronization, encoder 1, real master axis Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed by means of a position encoder in the drive. Taking the gear ratio and the master axis 42/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

position into account, the position command value is determined in the drive. The drive follows the command value with a lag distance. "Encoder 1" means that the position encoder is mounted to the motor shaft (indirect measuring of the axis position). "Real master axis" means that the master axis position is derived from the incremental encoder signals. See also Functional Description of firmware "Phase Synchronization with Re‐ al/Virtual Master Axis" 4.34 A0115 Phase synchronization, encoder 2, real master axis Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed by means of a position encoder in the drive. Taking the gear ratio and the master axis position into account, the position command value is determined in the drive. The drive follows the command value with a lag distance. "Encoder 2" means that the position encoder is mounted to the machine axis (direct measuring of the axis position). "Real master axis" means that the master axis position is derived from the measuring encoder. See also Functional Description of firmware "Phase Synchronization with Re‐ al/Virtual Master Axis" 4.35 A0116 Phase synchr. lagless, encoder 1, virtual master axis Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed by means of a position encoder in the drive. Taking the gear ratio and the master axis position into account, the position command value is determined in the drive. The drive follows the command value without any lag error. "Encoder 1" means that the position encoder is mounted to the motor shaft (indirect measuring of the axis position). "Virtual master axis" means that the master axis position is calculated by the control unit. See also Functional Description of firmware "Phase Synchronization with Re‐ al/Virtual Master Axis" 4.36 A0117 Phase synchr. lagless, encoder 2, virtual master axis Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed by means of a position encoder in the drive. Taking the gear ratio and the master axis position into account, the position command value is determined in the drive. The drive follows the command value without any lag error. "Encoder 2" means that the position encoder is mounted to the machine axis (direct measuring of the axis position). "Virtual master axis" means that the master axis position is calculated by the control unit. See also Functional Description of firmware "Phase Synchronization with Re‐ al/Virtual Master Axis" 4.37 A0118 Phase synchr. lagless, encoder 1, real master axis Allocation Contained in 06VRS: «HDH» RE30159-WA Bosch Rexroth AG 43/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

The drive is in lagless position control. The position command value is calcu‐ lated by the master axis position. The master axis position is derived from the measuring encoder. See also Functional Description of firmware "Phase Synchronization with Re‐ al/Virtual Master Axis" 4.38 A0119 Phase synchr. lagless, encoder 2, real master axis Allocation Contained in 06VRS: «HDH»

The drive is in lagless position control. The position command value is calcu‐ lated by the master axis position. The master axis position is derived from the measuring encoder. See also Functional Description of firmware "Phase Synchronization with Re‐ al/Virtual Master Axis" 4.39 A0128 Cam, encoder 1, virtual master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "cam shaft" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation be‐ tween master axis and slave axis. The position command values are taken from a table that is accessed by means of the master axis position. The drive follows the command value with a lag distance. "Encoder 1" means that the position encoder is mounted to the motor shaft (indirect measuring of the axis position). "Virtual master axis" means that the master axis position is calculated by the control unit. See also Functional Description of firmware "Electronic Cam Shaft with Real/ Virtual Master Axis" 4.40 A0129 Cam, encoder 2, virtual master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "cam shaft" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation be‐ tween master axis and slave axis. The position command values are taken from a table that is accessed by means of the master axis position. The drive follows the command value with a lag distance. "Encoder 2" means that the position encoder is mounted to the machine axis (direct measuring of the axis position). "Virtual master axis" means that the master axis position is calculated by the control unit. See also Functional Description of firmware "Electronic Cam Shaft with Real/ Virtual Master Axis" 4.41 A0130 Cam, encoder 1, real master axis Allocation Contained in 06VRS: «HDH»

Status Diagnoses (Axxxx)

"Encoder 1" means that the position encoder is mounted to the motor shaft (indirect measuring of the axis position). "Real master axis" means that the master axis position is derived from the measuring encoder. See also Functional Description of firmware "Electronic Cam Shaft with Real/ Virtual Master Axis" 4.42 A0131 Cam, encoder 2, real master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "cam shaft" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation be‐ tween master axis and slave axis. The position command values are taken from a table that is accessed by means of the master axis position. The drive follows the command value with a lag distance. "Encoder 2" means that the position encoder is mounted to the machine axis (direct measuring of the axis position). "Real master axis" means that the master axis position is derived from the measuring encoder. See also Functional Description of firmware "Electronic Cam Shaft with Real/ Virtual Master Axis" 4.43 A0132 Cam, lagless, encoder 1, virt. master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "cam shaft" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation be‐ tween master axis and slave axis. The position command values are taken from a table that is accessed by means of the master axis position. The drive follows the command value without any lag error. "Encoder 1" means that the position encoder is mounted to the motor shaft (indirect measuring of the axis position). "Virtual master axis" means that the master axis position is calculated by the control unit. See also Functional Description of firmware "Electronic Cam Shaft with Real/ Virtual Master Axis" 4.44 A0133 Cam, lagless, encoder 2, virt. master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "cam shaft" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation be‐ tween master axis and slave axis. The position command values are taken from a table that is accessed by means of the master axis position. The drive follows the command value without any lag error. "Encoder 2" means that the position encoder is mounted to the machine axis (direct measuring of the axis position). "Virtual master axis" means that the master axis position is calculated by the control unit. See also Functional Description of firmware "Electronic Cam Shaft with Real/ Virtual Master Axis" 4.45 A0134 Cam, lagless, encoder 1, real master axis Allocation Contained in 06VRS: «HDH» RE30159-WA Bosch Rexroth AG 45/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

The drive is in the "cam shaft" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation be‐ tween master axis and slave axis. The position command values are taken from a table that is accessed by means of the master axis position. The drive follows the command value without any lag error. "Encoder 1" means that the position encoder is mounted to the motor shaft (indirect measuring of the axis position). "Real master axis" means that the master axis position is derived from the incremental encoder signals. See also Functional Description of firmware "Electronic Cam Shaft with Real/ Virtual Master Axis" 4.46 A0135 Cam, lagless, encoder 2, real master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "cam shaft" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation be‐ tween master axis and slave axis. The position command values are taken from a table that is accessed by means of the master axis position. The drive follows the command value without any lag error. "Encoder 2" means that the position encoder is mounted to the machine axis (direct measuring of the axis position). "Real master axis" means that the master axis position is derived from the measuring encoder. See also Functional Description of firmware "Electronic Cam Shaft with Real/ Virtual Master Axis" 4.47 A0136 Motion profile, encoder 1, virtual master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "motion profile" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation between master axis and slave axis. Depending on the master axis position, the position command values are generated from a given motion profile. The drive follows the command value with a lag distance. "Encoder 1" means that the position encoder is mounted to the motor shaft (indirect measuring of axis position). "Virtual master axis" means that the master axis position is calculated by the control unit. See also Functional Description of firmware "Electronic Motion Profile with Real/Virtual Master Axis" 4.48 A0137 Motion profile, encoder 2, virtual master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "motion profile" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation between master axis and slave axis. Depending on the master axis position, the position command values are generated from a given motion profile. The drive follows the command value with a lag distance. "Encoder 2" means that the position encoder is mounted to the machine axis (direct measuring of axis position). "Virtual master axis" means that the mas‐ ter axis position is calculated by the control unit. 46/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

See also Functional Description of firmware "Electronic Motion Profile with Real/Virtual Master Axis" 4.49 A0138 Motion profile, encoder 2, real master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "motion profile" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation between master axis and slave axis. Depending on the master axis position, the position command values are generated from a given motion profile. The drive follows the command value with a lag distance. "Encoder 2" means that the position encoder is mounted to the machine axis (direct measuring of axis position). "Real master axis" means that the master axis position is derived from the measuring encoder. See also Functional Description of firmware "Electronic Motion Profile with Real/Virtual Master Axis" 4.50 A0139 Motion profile, encoder 1, real master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "motion profile" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation between master axis and slave axis. Depending on the master axis position, the position command values are generated from a given motion profile. The drive follows the command value with a lag distance. "Encoder 1" means that the position encoder is mounted to the motor shaft (indirect measuring of axis position). "Real master axis" means that the mas‐ ter axis position is derived from the measuring encoder. See also Functional Description of firmware "Electronic Motion Profile with Real/Virtual Master Axis" 4.51 A0140 Motion profile lagless, encoder 1, virtual master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "motion profile" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation between master axis and slave axis. Depending on the master axis position, the position command values are generated from a given motion profile. The drive follows the command value without any lag error. "Encoder 1" means that the position encoder is mounted to the motor shaft (indirect measuring of axis position). "Virtual master axis" means that the master axis position is calculated by the control unit. See also Functional Description of firmware "Electronic Motion Profile with Real/Virtual Master Axis" 4.52 A0141 Motion profile lagless, encoder 2, virtual master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "motion profile" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation RE30159-WA Bosch Rexroth AG 47/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

between master axis and slave axis. Depending on the master axis position, the position command values are generated from a given motion profile. The drive follows the command value without any lag error. "Encoder 2" means that the position encoder is mounted to the machine axis (direct measuring of axis position). "Virtual master axis" means that the mas‐ ter axis position is calculated by the control unit. See also Functional Description of firmware "Electronic Motion Profile with Real/Virtual Master Axis" 4.53 A0142 Motion profile lagless, encoder 1, real master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "motion profile" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation between master axis and slave axis. Depending on the master axis position, the position command values are generated from a given motion profile. The drive follows the command value without any lag error. "Encoder 1" means that the position encoder is mounted to the motor shaft (indirect measuring of axis position). "Real master axis" means that the mas‐ ter axis position is derived from the incremental encoder signals. See also Functional Description of firmware "Electronic Motion Profile with Real/Virtual Master Axis" 4.54 A0143 Motion profile lagless, encoder 2, real master axis Allocation Contained in 06VRS: «HDH»

The drive is in the "motion profile" mode. The function has been derived from the principle of the mechanical cam shaft. There is a fixed position relation between master axis and slave axis. Depending on the master axis position, the position command values are generated from a given motion profile. The drive follows the command value without any lag error. "Encoder 2" means that the position encoder is mounted to the machine axis (direct measuring of axis position). "Real master axis" means that the master axis position is derived from the measuring encoder. See also Functional Description of firmware "Electronic Motion Profile with Real/Virtual Master Axis" 4.55 A0150 Drive-controlled positioning, encoder 1 Allocation Contained in 06VRS: «HDH»

From the master the drive receives a position command value in the "S‑0‑0282, Positioning command value" parameter. This position/distance, when the status of bit 0 of parameter "S‑0‑0346, Positioning command strobe" changes, is copied to "S‑0‑0258, Target position" or, in the case of a relative input, added to the value in "S‑0‑0430, Effective target position". The drive then generates (interpolates) an internal position command value char‐ acteristic in order to get from the current position to this target position. This is done considering the limit values for velocity, acceleration and jerk in the following parameters: ● "S‑0‑0193, Positioning Jerk", ● "S‑0‑0259, Positioning Velocity", 48/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

● "S‑0‑0260, Positioning Acceleration" and ● "S‑0‑0359, Positioning Deceleration". With a lag error proportional to the velocity the drive moves to the target posi‐ tion. "Encoder 1" means that the encoder assigned by means of "P‑0‑0077, As‐ signment motor encoder‑>optional slot" is used as a control encoder. See also Functional Description of firmware "Drive Controlled Positioning" 4.56 A0151 Drive-controlled positioning, encoder 1, lagless Allocation Contained in 06VRS: «HDH»

From the master the drive receives a position command value in the "S‑0‑0282, Positioning command value" parameter. This distance, when the status of bit 0 of parameter "S‑0‑0346, Positioning command strobe" changes, is copied to "S‑0‑0430, Effective target position" or, in the case of a relative input, added to the value in S‑0‑0430, Effective target position". The drive then generates (interpolates) an internal position command value char‐ acteristic in order to get from the current position to this target position. This is done considering the limit values for velocity, acceleration and jerk in the following parameters: ● "S‑0‑0259, Positioning Velocity", ● "S‑0‑0260, Positioning Acceleration", ● "S‑0‑0359, Positioning Deceleration" and ● "S‑0‑0193, Positioning Jerk". The drive laglessly moves to the target position (prerequisite: "P‑0‑0040, Ve‐ locity feedforward evaluation"=100%). "Encoder 1" means that the encoder assigned by means of "P‑0‑0077, As‐ signment motor encoder‑>optional slot" is used as a control encoder. See also Functional Description of firmware "Drive Controlled Positioning" 4.57 A0152 Drive-controlled positioning, encoder 2 Allocation Contained in 06VRS: «HDH»

From the master the drive receives a position command value in the "S‑0‑0282, Positioning command value" parameter. This distance, when the status of bit 0 of parameter "S‑0‑0346, Positioning command strobe" changes, is copied to "S‑0‑0430, Effective target position" or, in the case of a relative input, added to the value in "S‑0‑0430, Effective target position". The drive then generates (interpolates) an internal position command value char‐ acteristic in order to get from the current position to this target position. This is done considering the limit values for velocity, acceleration and jerk in the following parameters: ● "S‑0‑0259, Positioning Velocity", ● "S‑0‑0260, Positioning Acceleration", ● "S‑0‑0359, Positioning Deceleration" and ● "S‑0‑0193, Positioning Jerk". With a lag error proportional to the velocity the drive moves to the target posi‐ tion. "Encoder 2" means that the encoder assigned by means of "P‑0‑0078, As‐ signment optional encoder‑>optional slot" is used as a control encoder. RE30159-WA Bosch Rexroth AG 49/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

See also Functional Description of firmware "Drive Controlled Positioning" 4.58 A0153 Drive-controlled positioning, encoder 2, lagless Allocation Contained in 06VRS: «HDH»

From the master the drive receives a position command value in the "S‑0‑0282, Positioning command value" parameter. This distance, when the status of bit 0 of parameter "S‑0‑0346, Positioning command strobe" changes, is copied to "S‑0‑0430, Effective target position" or, in the case of a relative input, added to the value in "S‑0‑0430, Effective target position". The drive then generates (interpolates) an internal position command value char‐ acteristic in order to get from the current position to this target position. This is done considering the limit values for velocity, acceleration and jerk in the following parameters: ● "S‑0‑0259, Positioning Velocity", ● "S‑0‑0260, Positioning Acceleration", ● "S‑0‑0359, Positioning Deceleration" and ● "S‑0‑0193, Positioning Jerk". The drive laglessly moves to the target position (prerequisite: "P‑0‑0040, Ve‐ locity feedforward evaluation"=100%). "Encoder 2" means that the encoder assigned by means of "P‑0‑0078, As‐ signment optional encoder‑>optional slot" is used as a control encoder. See also Functional Description of firmware "Drive Controlled Positioning" 4.59 A0154 Position mode drive controlled, encoder 1 Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed in the drive by means of a position encoder. The master only presets the position com‐ mand value characteristic. When the operation mode is activated, any possible difference between cur‐ rent actual position value and transmitted position command value is traveled in drive-controlled form with a lag error. "Encoder 1" means that the encoder assigned via "P‑0‑0077, Assignment motor encoder‑>optional slot" is used as control encoder. See also Functional Description of firmware "Position Control With Cyclic Command Value Input" 4.60 A0155 Position mode drive controlled, encoder 2 Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed in the drive by means of a position encoder. The master only presets the position com‐ mand value characteristic. When the operation mode is activated, any possible difference between cur‐ rent actual position value and transmitted position command value is traveled in drive-controlled form with a lag error. "Encoder 2" means that the encoder assigned via "P‑0‑0078, Assignment optional encoder‑>optional slot" is used as control encoder. See also Functional Description of firmware "Position Control With Cyclic Command Value Input" 50/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx) 4.61 A0156 Position mode lagless, encoder 1 drive controlled Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed in the drive by means of a position encoder. The master only presets the position com‐ mand value characteristic. When the operation mode is activated, any possible difference between cur‐ rent actual position value and transmitted position command value is traveled in drive-controlled form without lag error. "Encoder 1" means that the encoder assigned via "P‑0‑0077, Assignment motor encoder‑>optional slot" is used as control encoder. See also Functional Description of firmware "Position Control With Cyclic Command Value Input" 4.62 A0157 Position mode lagless, encoder 2 drive controlled Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed in the drive by means of a position encoder. The master only presets the position com‐ mand value characteristic. When the operation mode is activated, any possible difference between cur‐ rent actual position value and transmitted position command value is traveled in drive-controlled form without lag error. "Encoder 2" means that the encoder assigned via "P‑0‑0078, Assignment optional encoder‑>optional slot" is used as control encoder. See also Functional Description of firmware "Position Control With Cyclic Command Value Input" 4.63 A0158 Direct valve control Allocation Contained in 06VRS: «-»

The description of this diagnostic message is in preparation.

4.64 A0160 Position mode drive controlled Allocation Contained in 06VRS: «HDH»

The drive is in position control. The position control loop is closed in the drive by means of a position encoder. The master only presets the position com‐ mand value characteristic. When the operation mode is activated, any possible difference between cur‐ rent actual position value and transmitted position command value is traveled in drive-controlled form. According to the axis controller control word (S-0-0520), the drive controls with encoder 1 or encoder 2, laglessly or with lag error, with regard to the tar‐ get position to be approached (prerequisite: "P‑0‑0040, Velocity feedforward evaluation"=100%).

Control with encoder 2 can only take place if encoder 2 is availa‐ ble. RE30159-WA Bosch Rexroth AG 51/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

See also Functional Description of firmware "Position Control With Cyclic Command Value Input" 4.65 A0161 Drive-controlled positioning Allocation Contained in 06VRS: «HDH»

From the master the drive receives a position command value in parameter "S‑0‑0282, Positioning command value". This distance, when the status of bit 0 of parameter "S‑0‑0346, Positioning command strobe" changes, is cop‐ ied to the value in "S‑0‑0430, Effective target position" or, in the case of rela‐ tive input, added to this value. The drive then generates (interpolates) an in‐ ternal position command value characteristic in order to get from the current position to this target position. This is done considering the parameterized values for velocity, acceleration and jerk in the parameters ● "S‑0‑0259, Positioning Velocity", ● "S‑0‑0260, Positioning Acceleration", ● "S‑0‑0359, Positioning Deceleration" and ● "S‑0‑0193, Positioning Jerk". According to the axis controller control word, the drive controls with encod‐ er 1 or encoder 2, laglessly or with lag error, with regard to the target position to be approached (prerequisite: "P‑0‑0040, Velocity feedforward evalua‐ tion"=100%).

Control with encoder 2 can only take place if encoder 2 is availa‐ ble.

See also Functional Description of firmware "Drive-Controlled Positioning" 4.66 A0162 Positioning block mode Allocation Contained in 06VRS: «HDH»

The command value profile is generated in the drive. Target position, veloci‐ ty, acceleration and jerk are determined by a programmed positioning block. According to the parameterization of "P‑0‑4019, Positioning block mode", the target position is understood as an absolute or relative distance. According to the axis controller control word, the drive controls with encod‐ er 1 or encoder 2, laglessly or with lag error, with regard to the target position to be approached (prerequisite: "P‑0‑0040, Velocity feedforward evalua‐ tion"=100%).

Control with encoder 2 can only take place if encoder 2 is availa‐ ble.

See also Functional Description of firmware "Positioning Block Mode" 4.67 A0163 Position synchronization Allocation Contained in 06VRS: «HDH»

The drive is in the "Position synchronization" mode. This means that the drive is in position control and the position command values are derived from mas‐ ter axis positions. See also Functional Description of firmware "Synchronization Modes" 52/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx) 4.68 A0164 Velocity synchronization Allocation Contained in 06VRS: «HDH»

The drive is in the "Velocity synchronization" mode. This means that the drive is in velocity control and the velocity command values are derived from mas‐ ter axis positions. See also Functional Description of firmware "Synchronization Modes" 4.69 A0206 Positioning block mode, encoder 1 Allocation Contained in 06VRS: «HDH»

The drive is in position control with systematic lag distance. Encoder 1 (motor encoder) provides the actual value. The command value profile is generated in the drive. Target position, velocity, acceleration and jerk are determined by a previously programmed positioning block According to the parameterization of "P‑0‑4019, Positioning block mode", the target position shall be understood as being absolute or as relative distance. See also Functional Description of firmware "Positioning Block Mode" 4.70 A0207 Positioning block mode lagless, encoder 1 Allocation Contained in 06VRS: «HDH»

The drive is in position control without lag distance. Encoder 1 (motor encod‐ er) provides the actual value. The command value profile is generated in the drive. Target position, velocity, acceleration and jerk are determined by a pre‐ viously programmed positioning block According to the parameterization of "P‑0‑4019, Positioning block mode", the target position shall be understood as being absolute or as relative distance. See also Functional Description of firmware "Positioning Block Mode" 4.71 A0210 Positioning block mode, encoder 2 Allocation Contained in 06VRS: «HDH»

The drive is in position control with systematic lag distance. Encoder 2 pro‐ vides the actual value. The command value profile is generated in the drive. Target position, velocity, acceleration and jerk are determined by a previously programmed positioning block According to the parameterization of "P‑0‑4019, Positioning block mode", the target position shall be understood as being absolute or as relative distance. See also Functional Description of firmware "Positioning Block Mode" 4.72 A0211 Positioning block mode lagless, encoder 2 Allocation Contained in 06VRS: «HDH»

The drive is in position control without lag distance. Encoder 2 provides the actual value. The command value profile is generated in the drive. Target po‐ sition, velocity, acceleration and jerk are determined by a previously program‐ med positioning block. According to the parameterization of "P‑0‑4019, Posi‐ tioning block mode", the target position shall be understood as being abso‐ lute or as relative distance. See also Functional Description of firmware "Positioning Block Mode" RE30159-WA Bosch Rexroth AG 53/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx) 4.73 A0403 Quick stop with probe detection is active Allocation Contained in 06VRS: «HDH»

The readiness for quick stop and the detection of the quick stop signal inter‐ nally trigger the speed command value reset which causes the axis to be shut down. This happens taking the following values into account: ● the current torque/force limit value for drives in closed-loop operation ● the maximum stator frequency change (P-0-0569) for drives in open- loop operation In the case of quick stop, the drive ignores the setting of command values by the control master, decelerates in a drive-controlled way and remains in a drive-internal operating mode until the readiness for quick stop is reset. See also Functional Description of firmware "Quick Stop via Probe Input" 4.74 A0500 Supply module in voltage control Allocation Contained in 06VRS: «-»

The mains contactor has been switched in, the DC bus has been charged, the DC bus voltage is regulated to 750 V direct voltage.

On the display of Rexroth IndraDrive supply units, the text "VM" ("Versorgungs-Modul" = supply module) precedes the diagnostic message. 4.75 A0502 Supply module in operation Allocation Contained in 06VRS: «-»

The mains contactor has been switched in, the DC bus has been charged and is ready for power output.

On the display of Rexroth IndraDrive supply units, the text "VM" ("Versorgungs-Modul" = supply module) precedes the diagnostic message. 4.76 A0503 DC bus charging active Allocation Contained in 06VRS: «-»

The DC bus is presently charged to the crest value of the mains voltage ("soft start"). When the voltage in the DC bus has reached the crest value of the mains voltage, the mains contactor is switched in.

On the display of Rexroth IndraDrive supply units, the text "VM" ("Versorgungs-Modul" = supply module) precedes the diagnostic message. 4.77 A0520 DC bus quick discharge active Allocation Contained in 06VRS: «-»

The braking resistor is presently short-circuiting the DC bus in order to re‐ duce the DC bus voltage as quickly as possible. 54/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

The "DC bus short circuit" function (ZKS) was activated via the terminal strip X32 at the HMV.

On the display of Rexroth IndraDrive supply units, the text "VM" ("Versorgungs-Modul" = supply module) precedes the diagnostic message. 4.78 A0800 Unknown operating mode Allocation Contained in 06VRS: «-»

There isn't any diagnostic message existing for the activated operating mode.

On the display of Rexroth IndraDrive supply units, the text "VM" ("Versorgungs-Modul" = supply module) precedes the diagnostic message. 4.79 A4000 Automatic drive check and adjustment Allocation Contained in 06VRS: «HDH»

The A4000 diagnostic message is a collective diagnostic message for differ‐ ent system states. It is used for drive check and adjustment. When enabling and disabling the drive enable this diagnosis is automatically activated. The following system states that are processed independent of the parameteriza‐ tion are counted among the drive checks and adjustments: ● the holding brake delay times ("S‑0‑0206, Drive on delay time", "S‑0‑0207, Drive off delay time") ● build-up of the air-gap field (in the case of asynchronous motors) ● automatic determination of the commutation offset (in the case of syn‐ chronous motors with incremental measuring system) Depending on the parameterization the automatic brake check is displayed with the A4000 diagnostic message, too (see "P‑0‑0525, Holding brake con‐ trol word"). 4.80 A4001 Drive deceleration to standstill Allocation Contained in 06VRS: «HDH»

The drive ● is decelerated to standstill as set in the "P‑0‑0119, Best possible decel‐ eration" parameter - or - ● conducts a speed command value reset.

This status is displayed on the control panel of the drive with "AE".

See also Functional Description of firmware "Error" 4.81 A4002 Drive in automatic mode Allocation Contained in 06VRS: «HDH» RE30159-WA Bosch Rexroth AG 55/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Status Diagnoses (Axxxx)

The drive-integrated PLC (MLD) has permanent (or temporary) control over the drive; this means that the drive is controlled by the drive-integrated PLC. See also Application Manual "Rexroth IndraMotion MLD" 4.82 A4003 Setting-up mode is active Allocation Contained in 06VRS: «HDH»

The "easy startup" mode is provided for controlling the drive manually.

When the "easy startup" mode has been activated, the display switches between the drive address and the message "CM" (Commissioning Mode).

In the "easy startup" mode, all motion commands of the PLC that is integra‐ ted in the drive (IndraMotion MLD) or the master communication are ignored. The drive is in velocity control mode; command values are specified via "P‑0‑1460, PLC/setting-up mode, velocity command value". 56/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X RE30159-WA Bosch Rexroth AG 57/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages 5 Error Messages 5.1 Fatal System Errors (F9xxx and E-0000) 5.1.1 F9001 Error internal function call Allocation Contained in 06VRS: «HDH»

The device was switched off by the firmware.

Cause Remedy

Undefined cause Switch device off/on. If error persists, replace device An error occurred in firmware (general software error) Please contact our service department

5.1.2 F9002 Error internal RTOS function call Allocation Contained in 06VRS: «HDH»

Cause Remedy

An error occurred in the firmware (general software error). Please contact our service department. The drive was switched off by the firmware.

5.1.3 F9003 Watchdog Allocation Contained in 06VRS: «HDH»

Cause Remedy

Firmware-side watchdog timer was triggered (general firm‐ Replace device, contact our service department ware error). Drive was switched off by firmware.

5.1.4 F9004 Hardware trap Allocation Contained in 06VRS: «-»

An internal firmware error has occurred. The device was switched off by the firmware.

Cause Remedy

An error occurred in firmware Please contact our service department

5.2 Fatal Errors (F8xxx) 5.2.1 F8000 Fatal hardware error Allocation Contained in 06VRS: «HDH»

Cause "F8000" is a collective diagnostic message for the following fatal hardware er‐ rors: ● "F8060 Overcurrent in power section" and ● "F8069 +/-15-volt DC error" Normally, "F8000" is not visible on the display of the drive controller because "F8060 Overcurrent in power section" or "F8069 +/-15-volt DC error" will be displayed shortly afterwards. 58/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Reading the Exact Cause of an An external control unit cannot recognize the exact cause of the error; the ex‐ Error at an External Control Unit act cause of the error, however, can be detected via the service channel by re-reading "S‑0‑0390, Diagnostic message number" and "S‑0‑0095, Diagnostic message". Remedy The particular cause of the error can be found in the diagnostic message which follows error F8000 ("F8060 Overcurrent in power section" or "F8069 +/-15-volt error"). Error Reaction The error reaction defined for fatal errors (F8xxx) is executed on the spot. 5.2.2 F8018 Device overtemperature shutdown Allocation Contained in 06VRS: «HDH»

The heat sink temperature of the device is monitored by a temperature sen‐ sor and a temperature model. When the heat sink temperature exceeds the maximum value set for the device and when the load determined by the tem‐ perature model has reached the absolute limit value set for the device, the device goes torque-free in order to protect it against destruction.

The error can only be cleared when the device has cooled down.

Cause Remedy

Overtemperature (heat sink) due to overload of device Switch drive off and let it cool down. Check mechanical sys‐ tem and drive sizing (on average, working power may not exceed continuous power of drive) For liquid-cooled devices: Check dimensioning of cooling system (see documentation with part number R911309636) Ambient temperature too high. Specified performance data Reduce ambient temperature, e.g. by cooling the control is valid up to an ambient temperature of 40 °C cabinet Heat sink of device is dirty Clean heat sink Convection is prevented by other components or mounting Mount device vertically and provide sufficient space for ven‐ position in control cabinet tilating heat sink Device-internal blower failed If blower fails, replace device or power section Failure of air conditioning for control cabinet Check air conditioning of control cabinet Incorrect dimensioning of control cabinet with regard to heat Check dimensioning of control cabinet dissipation For liquid-cooled devices: Connect cooling system No cooling system connected For liquid-cooled devices: Check cooling system and remove error Error in cooling system, e.g. coolant pump defective or filter clogged; thereby flow rate too small / inlet temperature of coolant too high See also Functional Description of firmware "Current Limitation Loop". 5.2.3 F8022 Enc. 1: Enc. signals incorr. (can be cleared in ph. 2) Allocation Contained in 06VRS: «HDH»

The signals of the measuring system (encoder 1) are monitored with regard to their amplitudes and signal shape. If a signal (e.g. sin or cos) leaves the thresholds monitored by the hardware or if the signals are disturbed in such a way that a position error occurs, the error F8022 is generated. RE30159-WA Bosch Rexroth AG 59/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

As the position of the measuring system is no longer generated correctly when the error F8022 is detected, it is necessary to initi‐ alize the encoder again. The error can only be cleared in communication phase 2 (param‐ eter mode).

Cause Remedy

Defective encoder cable or cable shielding. Check cable to measuring system and replace it, if necessa‐ ry. Measuring system defective. Check measuring system and replace it, if necessary Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if neces‐ measuring systems. sary. Measuring system dirty Clean or replace measuring system Hardware defect on control section of drive. Replace control section or entire drive controller.

See also "E2074 Encoder 1: encoder signals disturbed". 5.2.4 F8042 Encoder 2 error: Signal amplitude incorrect Allocation Contained in 06VRS: «HDH»

The signals of the measuring system (encoder 2) are monitored on hardware and software level with regard to their amplitudes and signal shape. If a sig‐ nal (sin or cos) leaves the allowed range or if the signals are disturbed in such a way that a position error occurs, this error is generated. The error only occurs in conjunction with the function "redundant motor encoder"!

As the position is no longer generated correctly when this error is detected, it is necessary to initialize the encoder again.

When using an incremental encoder with square-wave signals, monitoring is carried out with regard to an inadmissible edge. On the software level, the signals of a resolver are monitored for their levels.

Cause Remedy

Defective encoder cable or cable shielding Check cable to measuring system and replace it, if necessa‐ ry. Encoder defective Check measuring system and replace it, if necessary. Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if neces‐ measuring systems sary. Measuring system dirty Replace measuring system Hardware defect on control section of drive Replace control section or entire drive controller. 60/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

The device was switched off due to overload.

Cause Remedy

Power demanded by drives is too high Use drives with lower peak current Power demanded by drives is too high Reduce allowed acceleration of axis or reduce final velocity to which acceleration takes place

5.2.6 F8060 Overcurrent in power section Allocation Contained in 06VRS: «HDH»

The current in the power transistors has exceeded the maximum allowed de‐ vice peak current (cf. "S‑0‑0110, Amplifier peak current").

In the case of an internal signal voltage error (15 V) in the power section, this error message is generated, even without power, di‐ rectly when the device is switched on, before power is demanded from the power section.

Cause Remedy

External 24 V supply is not sufficiently overload-proof Check overload withstand capability of external 24 V power supply unit and replace it, if necessary Short circuit in motor or motor cable Check motor cable and motor for short circuit Power section of drive controller is defective Replace drive controller Current loop parameterized differently Check current loop parameterization (cf. motor data sheet) and correct it if necessary after having contacted our service department Voltage fluctuations in DC bus too high because system im‐ Reduce system impedance, e.g. increase feed wire cross pedance too high sections

5.2.7 F8069 +/-15Volt DC error Allocation Contained in 06VRS: «HDH»

An error has occurred in the internal +/‑15 V supply of the device.

The error cannot be cleared via the command "S‑0‑0099, C0500 Reset class 1 diagnostics".

Cause Remedy

Error in external DC24 V power supply Check external power supply Power section defective Replace device RE30159-WA Bosch Rexroth AG 61/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

5.2.8 F8070 +24Volt DC error Allocation Contained in 06VRS: «HDH»

Rexroth IndraDrive devices need an external 24 V control voltage supply for operation. This voltage is monitored with regard to the allowed tolerance.

When the error F8070 occurs, the motors within the drive system immediately go torque-free. Apply possibly existing self-holding motor holding brakes.

The error F8070 cannot be cleared by the error clearing com‐ mand (cf. "S‑0‑0099, C0500 Reset class 1 diagnostics"). To clear the error, the drive must be switched off completely!

Cause Remedy

Supply cable for control voltages defective Check and, if necessary, replace supply cable for control voltages and connector Overload of 24 V power supply unit Check 24 V supply voltage at power supply unit Power supply unit defective Check and, if necessary, replace power supply unit Short circuit in 24 V supply wiring Check 24 V supply wiring for short circuit

5.2.9 F8078 Speed loop error Allocation Contained in 06VRS: «HDH»

The velocity loop monitor is activated if the following conditions occur simulta‐ neously: ● "P‑0‑0049, Effective torque/force command value" is at the torque/force limit. ● "P‑0‑0049, Effective torque/force command value" and actual velocity have different signs. ● The actual velocity at the motor shaft is greater than 20 rpm (or 20 mm/min for linear motors). ● Actual acceleration and control deviation have different signs.

Cause Remedy

Motor phases (U, V, W) interchanged so that commutation Check motor cable connection and correct phase assign‐ of motor is incorrect ment, if necessary Incorrect encoder arrangement Correct encoder arrangement (inverting rotational direction of encoder can possibly resolve problem) Velocity loop setting incorrect Check velocity loop setting according to Functional Descrip‐ tion/Application Manual Commutation offset incorrect Replace motor (in the case of MHD, MKD, MKE motors); in the case of kit motors, make commutation settings Drive is operated in voltage-controlled form (without encod‐ Deactivate velocity loop monitoring in P‑0‑0556 er; U/f control); with this drive function, velocity loop monitor‐ ing does not make sense Motor encoder defective Replace motor encoder (or motor) 62/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

5.2.10 F8079 Velocity limit value exceeded Allocation Contained in 06VRS: «HDH»

Cause Remedy

"S‑0‑0040, Velocity feedback value" has exceeded the Check and, if necessary, correct parameterization of 1.125-fold value of one of parameterized velocity limit val‐ "S‑0‑0091, Bipolar velocity limit value", "S‑0‑0038, Positive ues. velocity limit value" and "S‑0‑0039, Negative velocity limit value". Velocity control loop unstable or too heavily oscillating due Check and, if necessary, correct parameterization of velocity to incorrect parameterization. loop. Preset velocity command value too high (cf. Reduce "P‑0‑0048, Effective velocity command value" by P‑0‑0048 = "S‑0‑0036, Velocity command val‐ adjusting "S‑0‑0036, Velocity command value" or "S‑0‑0037, ue" + "S‑0‑0037, Additive velocity command value"). Additive velocity command value". See also Functional Description of firmware " Control Loop Structure". 5.2.11 F8091 Power section defective Allocation Contained in 06VRS: «HDH»

During the initialization of the power section, the drive tries to access the power section parameters. These are the following parameters: ● S-0-0140, Controller type ● P-0-0809, Properties of charging circuit ● P-0-0859, Data of internal braking resistor ● P-0-1510, Circuit board code power section ● P-0-1519, Module code of power section ● P-0-3902, Command values for power section adjust ● P-0-3903, Adjust values of power section ● P-0-4058, Amplifier type data ● P-0-4059, Electric type data of power section

Cause Remedy

One of power section parameters is invalid (e.g. checksum Check content of list "S‑0‑0021, IDN list of invalid operating error) or contains inadmissible value. data for communication phase 2", write down IDNs it con‐ tains (IDNs/parameters) and then please contact Rexroth service department. As of MPx04VRS: Check/correct settings in "P‑0‑0860, Converter configura‐ Incorrect parameter setting when using device "HAC01" tion" (bit 15); (SERCOS analog converter). reboot device "HAC01" after having changed parameter set‐ ting. Control section and/or power section defective. Replace drive controller

The replacement of the entire drive controller is described in the Project Planning Manual for the power section. 5.2.12 F8096 Encoder 1: Extended bit 1 reports error Allocation Contained in 06VRS: «-» RE30159-WA Bosch Rexroth AG 63/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

The description of this diagnostic message is in preparation.

5.2.13 F8097 Encoder 1: Extended bit 2 reports error Allocation Contained in 06VRS: «-»

The description of this diagnostic message is in preparation.

5.2.14 F8100 Error when initializing the parameter handling Allocation Contained in 06VRS: «HDH»

During the initialization of the drive the control section is checked for correct function. An error was detected during this check.

Cause Remedy

Control section configuration not allowed because an option‐ Switch drive off and on again. If error occurs again, replace al module (e.g. optional module 1...4, master communica‐ control section (e.g. CSH01.1 or CDB01.1) by different con‐ tion,...) is not supported by firmware. trol section with appropriate configuration. If necessary, contact our service department. Firmware used is not suitable (e.g. MPH02VRS for double- Select suitable firmware by means of Functional Description axis control section), i.e. hardware and software do not or Version Notes/Release Notes (see "supported control match. section configurations"). Hardware defect on control section Switch drive off and on again. If error still occurs, contact our service department and, if necessary, replace control sec‐ tion or entire drive controller.

See also Functional Description of firmware "System Overview". See also Project Planning Manual for control section, keyword "Type Code". 5.2.15 F8102 Error when initializing power section Allocation Contained in 06VRS: «HDH»

During the initialization of the drive the power section is checked for correct function. An error was detected during this check.

Cause Remedy

Hardware and firmware do not match Check Firmware Release Notes or Firmware Version Notes and, if necessary, use latest firmware release. Parameter "P‑0‑1510, Circuit board code power section" Switch drive off and on again. If error occurs again, check stored on power section is invalid or was incorrectly written. content of "P‑0‑1510, Circuit board code power section" and contact our service department! Maybe you have to replace power section or entire drive controller. Hardware defect on power section Replace power section or entire drive controller. 64/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

The power section is incompatible with the firmware used.

Cause Remedy

Inappropriate firmware Use firmware that matches power section Inappropriate power section Use power section that matches firmware Operation without power section has been set, but firmware Check bit 15 in P-0-0860 recognizes a power section

5.2.17 F8120 Invalid control section/firmware combination Allocation Contained in 06VRS: «HDH»

The control section is incompatible with the firmware used.

Cause Remedy

During firmware replacement, there is an attempt to copy Use firmware that matches control section firmware to controller which does not match Inappropriate control section Use control section that matches firmware Safety technology incorrectly configured for double-axis de‐ Check control section configuration vice

5.2.18 F8122 Control section defective Allocation Contained in 06VRS: «HDH»

During the initialization of the control section an error occurred.

Cause Remedy

Hardware of control section is defective Replace control section or entire drive controller; use hard‐ ware configuration of same type

The firmware of an optional module is defective. RE30159-WA Bosch Rexroth AG 65/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Firmware of an optional module programmed in invalid form Carry out firmware update (again). If error occurs repeated‐ – or ‑ ly, it is necessary to replace control section or drive control‐ ler An error occurred during firmware update

After the power supply had been switched on, a wiring error of the mains choke (e.g. incorrect phase sequence of the mains phases) was detected.

Cause Remedy

Mains choke was incorrectly connected Check and correct connection of mains choke; connections to mains choke must be as short as possible and twisted → See also documentation "Drive System, Project Planning Manual", chapter "Connection to Mains Choke and Mains Filter" (for an overview of reference documentations on the drive system and the system components, see: "Reference Documentations")

5.3 Errors of Category F6xxx 5.3.1 F6028 Position limit value exceeded (overflow) Allocation Contained in 06VRS: «HDH»

The drive provides a function for monitoring an allowed travel range by means of software limit switches that can be parameterized.

The travel range monitor has to be activated and parameterized via "S‑0‑0049, Positive position limit value", "S‑0‑0050,Negative position limit value" and "S‑0‑0055, Position polarities". The drive reaction (fatal warning or error) in case the travel range is exceeded has to be parameterized in "P‑0‑0090, Travel range limit parameter". 66/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Command value set for drive causes axis position outside of 1. Clear error and switch power on. positive travel range/position limit value ("S‑0‑0049, Positive 2. Set drive enable and input a command value leading position limit value" or "S‑0‑0050, Negative position limit val‐ back to allowed travel range. ue"). Contact machine manufacturer in order to find out cause of incorrect command value. "S‑0‑0049, Positive position limit value" or "S‑0‑0050, Nega‐ Check and, if necessary, correct parameter setting of tive position limit value" incorrectly parameterized "S‑0‑0049, Positive position limit value" or "S‑0‑0050, Nega‐ tive position limit value". When the position limit values are at the end of possible Increase "S‑0‑0278, Maximum travel range" travel range (+/- "S‑0‑0278, Maximum travel range"), ex‐ ‑ or ‑ ceeding of travel range can no longer be unequivocally de‐ tected by means of actual position values. Therefore, over‐ Reduce position limit values so that defined deceleration is flow monitoring is carried out which generates error still possible within defined travel range.

The parameter "S‑0‑0057, Position window" is used to realize a hysteresis function for evaluating the position limit values.

See also Functional Description of firmware " Position Limitation/Travel Range Limit Switch". 5.3.2 F6029 Positive position limit exceeded Allocation Contained in 06VRS: «HDH»

The drive provides a function for monitoring an allowed travel range by means of software limit switches that can be parameterized.

The travel range monitor has to be activated and parameterized via "S‑0‑0049, Positive position limit value", "S‑0‑0050, Negative position limit value" and "S‑0‑0055, Position polarities". The drive reaction (fatal warning or error) in case the travel range is exceeded has to be parameterized in "P‑0‑0090, Travel range limit parameter".

Cause Remedy

Command value set for drive causes axis position outside of 1. Clear error and switch power on. positive travel range/position limit value ("S‑0‑0049, Positive 2. Set drive enable and preset command value that leads position limit value"). back to the allowed travel range. Contact machine manufacturer in order to clarify cause of incorrect command value. "S‑0‑0049, Positive position limit value" incorrectly parame‐ Check and, if necessary, correct parameterization of terized. "S‑0‑0049, Positive position limit value".

The "S‑0‑0057, Position window" parameter is used to realize a hysteresis function for evaluating the position limit values.

See also Functional Description of firmware " Position Limitation/Travel Range Limit Switch". RE30159-WA Bosch Rexroth AG 67/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

5.3.3 F6030 Negative position limit exceeded Allocation Contained in 06VRS: «HDH»

The drive provides a function for monitoring an allowed travel range by means of software limit switches that can be parameterized.

The travel range monitor has to be activated and parameterized via "S‑0‑0049, Positive position limit value", "S‑0‑0050, Negative position limit value" and "S‑0‑0055, Position polarities". The drive reaction (fatal warning or error) in case the travel range is exceeded has to be parameterized in "P‑0‑0090, Travel range limit parameter".

Cause Remedy

Command value set for drive causes axis position outside of 1. Clear error and switch power on negative travel range/position limit value ("S‑0‑0050, Nega‐ 2. Set drive enable and preset command value that leads tive position limit value"). back to the allowed travel range. Contact machine manufacturer in order to clarify cause of incorrect command value. "S‑0‑0050, Negative position limit value" incorrectly parame‐ Check and, if necessary, correct parameterization of terized "S‑0‑0050, Negative position limit value".

The "S‑0‑0057, Position window" parameter is used to realize a hysteresis function for evaluating the position limit values.

See also Functional Description of firmware " Position Limitation/Travel Range Limit Switch". 5.3.4 F6034 Emergency-Stop activated Allocation Contained in 06VRS: «HDH»

The drive provides a function for monitoring an E-Stop input (connection of an external hardware switch). IndraDrive Mi: If "IndraDrive Mi" is used and the E-stop input is connected to the "KCU" electronic control system and parameter "P‑0‑0223, E-Stop input" is assigned to none of the digital inputs, the E-stop input of the "KCU" is monitored.

This monitor has to be activated and parameterized via "P‑0‑0008, Activation E-Stop function". The error can only be cleared, when the selection of E-Stop is re‐ moved or the evaluation of E-Stop was switched off.

Cause Remedy

E-Stop input was controlled (0 V at digital input) Remove failure that caused E-Stop to be triggered and clari‐ fy cause of triggering Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs and correct it, if control section necessary 68/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy E-Stop switch or cable connection defective or incorrectly Check function and wiring of E-Stop switch wired Control section or digital inputs on control section defective Replace control section or entire drive controller

See also Functional Description of firmware: ● "E-Stop Function" ● "Digital Inputs/Outputs" ● "Velocity Command Value Reset" 5.3.5 F6042 Both travel range limit switches activated Allocation Contained in 06VRS: «HDH»

The compliance with the allowed travel range is monitored on the hardware side via two travel range limit switches. When the travel range has been ex‐ ceeded, one of the two limit switches is activated, if the limit switches were correctly mounted. The error F6042 is generated, if ● the controller detects that both travel range limit switches have been si‐ multaneously activated and ● exceeding the travel range is handled as an error (setting in "P‑0‑0090, Travel range limit parameter")

Cause Remedy

Due to incorrect mounting, axis simultaneously activates Mount travel range limit switches in such a way that they are both travel range limit switches activated shortly before axis end position is reached. Make sure the braking distance is sufficient. Travel range limit switches were incorrectly connected Connect travel range limit switches correctly; check compli‐ ance with switching logic set in "P‑0‑0090, Travel range limit parameter" Switching logic of travel range limit switches does not corre‐ Check switching logic with regard to realized wiring, adjust it spond to realized wiring in "P‑0‑0090, Travel range limit parameter" if necessary

5.3.6 F6043 Positive travel range limit switch activated Allocation Contained in 06VRS: «HDH»

The drive provides a function for monitoring travel range limit switches (exter‐ nal hardware limit switches).

This monitor has to be activated and parameterized via "P‑0‑0090, Travel range limit parameter". When the error F6043 occurs, the axis is shut down with velocity command value reset. RE30159-WA Bosch Rexroth AG 69/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Travel range limit switch situated in positive direction (see 1. Clear error (reset button or error clearing command) Project Planning Manual for motor) was activated because and switch power on. axis is outside of travel range that was defined by means of 2. Set drive enable and preset command value that leads travel range limit switches. back to the allowed travel range. Incorrect parameterization of digital inputs and outputs on Correct configuration of digital inputs/outputs and correct it, control section if necessary. Travel range limit switch or cable is defective or incorrectly Check function and wiring of travel range limit switch. wired Control section or digital inputs on control section defective Replace control section or entire drive controller.

See also "E8043 Positive travel range limit switch activated". See also Functional Description of firmware: ● " Position Limitation/Travel Range Limit Switch" ● " Digital Inputs/Outputs". 5.3.7 F6044 Negative travel range limit switch activated Allocation Contained in 06VRS: «HDH»

The drive provides a function for monitoring travel range limit switches (exter‐ nal hardware limit switches).

This monitor has to be activated and parameterized via "P‑0‑0090, Travel range limit parameter". When the error F6044 occurs, the axis is shut down with velocity command value reset.

Cause Remedy

Travel range limit switch situated in negative direction (see 1. Clear error (reset button or error clearing command) Project Planning Manual for motor) was activated because and switch power on. axis is outside of travel range that was defined by means of 2. Set drive enable and preset command value that leads travel range limit switches. back to the allowed travel range. Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs and correct it, if control section. necessary. Travel range limit switch or cable is defective or incorrectly Check function and wiring of travel range limit switch. wired. Control section or digital inputs on control section defective. Replace control section or entire drive controller.

See also Functional Description of firmware: 70/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

● " Position Limitation/Travel Range Limit Switch" ● " Digital Inputs/Outputs". 5.4 Interface Errors (F4xxx) 5.4.1 F4001 Double MST failure shutdown Allocation Contained in 06VRS: «HDH»

The master synchronization telegram (MST) was not received in the drive in two successive SERCOS cycles.

Cause Remedy

Disturbance in the optic fiber transmission line Check all optic fiber connections in the SERCOS ring and replace them, if necessary Attenuation of light signals too high Measure attenuation of optic fiber cables again.

Maximum attenuation between TX and RX mustn't exceed 12.5 dB! Different SERCOS cycle times in master and slave Check SERCOS cycle times in master and slave and adjust them, if necessary Disturbance in SERCOS interface (general) Replace control section or entire drive controller

See also Functional Description of firmware "Interface Errors and Diagnostic Possibilities " 5.4.2 F4002 Double MDT failure shutdown Allocation Contained in 06VRS: «HDH»

The master data telegram (MDT) was not received in the drive in two succes‐ sive SERCOS or field bus cycles. The drive goes back to communication phase 0.

Cause Remedy

Bus master does not send any more cyclic telegrams to the Switch master on and start cyclic communication; see man‐ drive. These, however, are expected in communication ual for control unit phase 4 Fiber optic cable bus: disturbance in fiber optic transmission Check all fiber optic cable connections in SERCOS ring line Fiber optic cable bus: Input power of light signals too low‐ Adjust transmitting power or check attenuation of fiber optic Light power to be measured at receiver (with test mode: cable. continuous light) must be between ‑20dBm (10µW) and Maximum attenuation between TX and RX mustn't exceed ‑5dBm (320µW) 12.5dB Disturbance in SERCOS interface (general) Replace control section or entire drive controller Different transmission times of master data telegrams in Synchronize transmission times of master data telegrams in master and slave master and slave RE30159-WA Bosch Rexroth AG 71/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

See also Functional Description of firmware "Interface Errors and Diagnostic Possibilities " 5.4.3 F4003 Invalid communication phase shutdown Allocation Contained in 06VRS: «HDH»

An invalid communication phase (phase > 4) was set by the SERCOS master module.

Cause Remedy

Error in SERCOS master module of control unit Error can only be corrected after consultation with control unit manufacturer See also Functional Description of firmware " Interface Errors and Diagnostic Possibilities". 5.4.4 F4004 Error during phase progression Allocation Contained in 06VRS: «HDH»

The compulsory order was not followed during the phase progression.

Cause Remedy

Error in SERCOS master module of control unit Error can only be corrected after consultation with control unit manufacturer. See also Functional Description of firmware "Interface Errors and Diagnostic Possibilities". 5.4.5 F4005 Error during phase regression Allocation Contained in 06VRS: «HDH»

When regressing from a communication phase the drive wasn't switched to communication phase 0.

Cause Remedy

Error in SERCOS master module of control unit Error can only be corrected after consultation with control unit manufacturer. See also Functional Description of firmware " Interface Errors and Diagnostic Possibilities". 5.4.6 F4006 Phase switching without ready signal Allocation Contained in 06VRS: «HDH»

The SERCOS master tried to carry out a phase switch without waiting for the ready signal from the drive.

Cause Remedy

Error in SERCOS master module of control unit Error can only be corrected after consultation with control unit manufacturer. 72/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

See also Functional Description of firmware "Interface Errors and Diagnostic Possibilities". 5.4.7 F4009 Bus failure Allocation Contained in 06VRS: «HDH»

The cyclic communication via the master communication interface failed after the master communication interface had been initialized and commissioned. The drive generates this error in the following cases: ● Within the monitoring time stored in P-0-4075, there hasn't any telegram with command values or heartbeat been received. ‑ or ‑ ● The control unit was switched to "Stop" and the drive is with torque. ‑ or ‑ ● The control unit took the drive out of the master communication group and the drive is with torque.

F4009 can be suppressed via P-0-4088 (bit 2,1="00"); in this case, E4005 is generated.

DANGER Dangerous movements! Danger to life, risk of injury, serious injury or property damage by automatic restart after bus failure! In the case of bus failure (message "F4009" or "E4005"), an error reaction must be carried out in the control unit, too, to prevent automatic restart after the bus has been reestablished. This means that the bits "Drive Halt", "drive enable" and "drive ON" (e.g. bits 13, 14 and 15 in parameter "P‑0‑4077, Field bus: Control word") should be reset in the control unit in the case of bus fail‐ ure.

Causes and remedies of the triggering of the monitoring time stored in P-0-4075: EtherNet/IP Only Class1 connections are monitored which means that, within the watch‐ dog time, there haven't any new output data been received from the master.

Cause Remedy

Master does not exchange any cyclic output data Check master status Ethernet connection aborted Check Ethernet cable and, if necessary, switch EMC problems at transmission line Check shielding and routing Network load too high Switch off unnecessary Ethernet communication; if necessa‐ ry, establish separate network for EtherNet/IP

DeviceNet Only the "Implicite Message" is monitored which means that, within the watchdog time, there haven't any new output data been received from the master.

Cause Remedy

Master does not exchange any cyclic output data Check master status Bus connection interrupted Check cable and interface RE30159-WA Bosch Rexroth AG 73/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy EMC problems at transmission line Check shielding and routing Bus load too high Check communication settings (or communication load) ("In‐ terscan Delay" setting at DeviceNet master) Faulty bus terminator Check whether bus terminating resistors have been installed at most distant bus nodes

CANopen According to the kind of node monitoring which has been set, the "Node Guarding request" (cyclic node monitoring) or the "heartbeat telegram" is monitored.

Cause Remedy

Master does not transmit any node monitoring telegram Check master status Bus connection interrupted Check cable and interface EMC problems at transmission line Check shielding and routing Bus load too high Check communication settings (or communication load) Faulty bus terminator Check whether bus terminating resistors have been installed at most distant bus nodes

PROFIBUS The master must address the slave within the monitoring time.

Cause Remedy

Master does not exchange any cyclic output data Check master status Bus connection interrupted Check cable and interface EMC problems at transmission line Check shielding and routing Faulty bus terminator Check whether bus terminating resistors have been installed at most distant bus nodes. At all other nodes, bus terminat‐ ing resistors must not have been installed

PROFINET The consumer (drive) monitors the reception of the cyclic data from the pro‐ vider (control unit) by means of a monitoring interval.

Cause Remedy

SERCOS

Cause Remedy

Communication phase 0 was set, although drive enable had First remove drive enable and then set communication been set. phase 0.

5.4.8 F4011 Communication watchdog: Overload of cyclic communication Allocation Contained in 06VRS: «HDH» 74/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

MultiEthernet interface is overloaded; I/O data of cyclic com‐ Please contact our service department munication cannot be transmitted to drive

5.4.9 F4012 Incorrect I/O length Allocation Contained in 06VRS: «HDH»

The master tries to establish communication with an I/O length that does not correspond to the I/O length parameterized in the drive.

Cause Remedy

Different length for input data or output data than drive ex‐ ● Check parameter set in drive pects in "P‑0‑4071, Field bus: length of cyclic command val‐ ● Adjust master configuration ue data channel" and "P‑0‑4082, Field bus: length of cyclic actual value data channel" was configured in master CCD system mode: Take cyclic CCD data between master communication mas‐ In master communication master, different length for cyclic ter and CCD slaves (correctly) into account CCD data ("P‑0‑1621, CCD: Configuration list master com‐ munication cmd values" and "P‑0‑1622, CCD: Configuration list master communication actual values") than drive expects for CCD slaves was configured. CCD system mode: Take (virtual) field bus control word / field bus status word (Virtual) field bus control word / field bus status word for for CCD slaves into account (or correctly into account) (see CCD slaves not (or not correctly) taken into account also Functional Description of firmware "CCD System Mode".

5.4.10 F4017 S-III: Incorrect sequence during phase switch Allocation Contained in 06VRS: «HDH»

Error in SERCOS‑III master module of the control unit; the SERCOS‑III mas‐ ter tried to make a phase switch, the drive detected that the sequence of this phase switch was incorrect.

Cause Remedy

Timeout occurred in drive during phase switch (individual Error can only be corrected after consultation with control switching periods took too long) unit manufacturer ‑ or ‑ Master changed phase without prior notice (new phase in MST without CPS bit set) ‑ or ‑ Drive was switched on while SERCOS III already was in higher phase

5.4.11 F4034 Emergency-Stop activated Allocation Contained in 06VRS: «HDH»

The drive provides a function for monitoring an E-Stop input (connection of an external hardware switch). RE30159-WA Bosch Rexroth AG 75/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

IndraDrive Mi: If "IndraDrive Mi" is used and the E-stop input is connected to the "KCU" electronic control system and parameter "P‑0‑0223, E-Stop input" is assigned to none of the digital inputs, the E-stop input of the "KCU" is monitored.

This monitor has to be activated and parameterized via "P‑0‑0008, Activation E-Stop function". The axis is shut down as parameterized in "P‑0‑0119, Best possi‐ ble deceleration". The error can only be cleared, when the selection of E-Stop is re‐ moved or the evaluation of E-Stop was switched off.

Cause Remedy

E-Stop input was controlled (0 V at digital input) Remove failure that caused E-Stop to be triggered and clear error (reset key or error clearing command). Afterwards switch power on again and clarify cause of triggering of E- Stop Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs on control sec‐ control section tion and correct it, if necessary E-Stop switch or cable connection defective or incorrectly Check function and wiring of E-Stop switch wired Control section or digital inputs on control section defective Replace control section or entire drive controller

See also Functional Description of firmware: ● "E-Stop Function" ● "Digital Inputs/Outputs" ● "Best Possible Deceleration" 5.5 Non-fatal Errors (F2xxx) 5.5.1 F2002 Assignment of encoder for synchronization is not allowed Allocation Contained in 06VRS: «HDH»

When the operation mode "position synchronization" (0x0245) or the opera‐ tion mode "velocity synchronization" (0x0042) is configured in one of the op‐ eration mode parameters (S-0-0032, S-0-0033, etc.), "P-0-0753, Position ac‐ tual value in actual value cycle" required for synchronization is initialized with regard to the encoder specified by bit0 of parameter "S-0-0520, Control word of axis controller" when switching from parameter mode to operating mode takes place.

If the additive functional package "IndraMotion MLD" has been enabled, the operation mode "position synchronization" and the operation mode "velocity synchronization" are automatically con‐ figured as operation modes. 76/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

When a synchronous operation mode with outer position control loop ("Mo‐ tionProfile", "cam" or "phase synchronization") is activated, a check is run to find out whether "P-0-0753, Position actual value in actual value cycle" was initialized with regard to the currently effective control encoder (encoder 1 or encoder 2); if the drive detects that this is not the case, the F2002 error is triggered.

Cause Remedy

Control encoder valid at activation of synchronous operation In parameter mode (PM), select, via "S-0-0520, Control word mode with outer position control loop is not initialization en‐ of axis controller", encoder with regard to which "P-0-0753, coder for actual position value in actual value cycle. Position actual value in actual value cycle" is to be initial‐ ized. Make sure that, when activating a synchronous operation mode with outer position control loop, control encoder de‐ fined via "S-0-0520, Control word of axis controller" is initiali‐ zation encoder of "P-0-0753, Position actual value in actual value cycle".

5.5.2 F2003 Motion step skipped Allocation Contained in 06VRS: «HDH»

When the operating mode "electronic motion profile" is active, a check is run during the transition from one motion step to the next to find out whether a motion step was skipped. Except for the transition from the last to the first motion step (or vice versa), the motion step number may only change by 1.

Cause Remedy

Master axis velocity ("P-0-0777, Effective master axis veloci‐ Reduce master axis velocity ty") is so high that master axis distance ("P-0-0227, Cam ‑ or ‑ shaft profile, access angle") covered in one position loop clock is greater than width of one motion step Increase width of motion step (distance of two master axis initial positions in "P-0-0705, List of master axis initial posi‐ tions, set 0" or "P-0-0712, List of master axis initial positions, set 1") ‑ or ‑ Reduce position loop clock (see Functional Description of firmware " Performance Data").

5.5.3 F2004 Error in motion profile Allocation Contained in 06VRS: «HDH»

In the operation mode with electronic motion profile the drive monitors wheth‐ er the defined motion profile (max. 8 motion steps) itself is plausible. The error is generated if a motion profile is activated under drive enable which has not passed the plausibility tests. Depending on whether set 0 or set 1 was selected, a number will be displayed in parameter "P‑0‑0702, Motion profile, diagnostic message, set 0" or "P‑0‑0709, Motion profile, diagnostic message, set 1". RE30159-WA Bosch Rexroth AG 77/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

1: The master axis start positions of the motion steps used Check list "P‑0‑0705, List of the master axis start positions, do not increase set 0" or "P‑0‑0712, List of the master axis start positions, set 1" 2: With an absolute motion profile, the total of the individual Check list "P‑0‑0707, List of the strokes, set 0" or "P‑0‑0714, distances is not "0" or a multiple of "S‑0‑0103, Modulo val‐ List of the strokes, set 1" ue" 3: With a relative motion profile, the number of motion steps Check list "P‑0‑0703, Number of motion steps, set 0" or is less than "2" "P‑0‑0710, Number of motion steps, set 1" 21…28: The checked motion step is "Rest in velocity" or Check list "P‑0‑0706, List of the motion step modes, set 0" "Velocity in velocity". The following step consists of a profile or "P‑0‑0713, List of the motion step modes, set 1" which is not "Velocity in rest" or "Velocity in velocity". The number of the checked motion step can be seen from the second digit of the number of the diagnostic message 31…38: The checked motion step is "Rest in velocity" or Check list "P‑0‑0708, List of the slave axis velocities, set 0" "Velocity in velocity". The following step consists of a profile or "P‑0‑0715, List of the slave axis velocities, set 1" which is either "Velocity in rest" or "Velocity in velocity". The velocity of the checked step and the following step do not correspond. The number of the checked motion step can be seen from the second digit of the number of the diagnostic message 41…48: The checked motion step is "Velocity in rest" or "Ve‐ Check list "P‑0‑0706, List of the motion step modes, set 0" locity in velocity". The preceding step consists of a profile or "P‑0‑0713, List of the motion step modes, set 1" which is not "Rest in velocity" or "Velocity in velocity". The number of the checked motion step can be seen from the second digit of the number of the diagnostic message 51…58: The checked motion step is "Velocity in rest" or "Ve‐ Check list "P‑0‑0708, List of the slave axis velocities, set 0" locity in velocity". The preceding step consists of a profile or "P‑0‑0715, List of the slave axis velocities, set 1" which is either "Velocity in rest" or "Velocity in velocity". The velocity of the checked step and the preceding step do not correspond. The number of the checked motion step can be seen from the second digit of the number of the diagnostic message 61…68: The 1st table element of a cam shaft profile used is Check list "P‑0‑0706, List of the motion step modes, set 0" unequal "0" or the cam shaft profile is invalid. or "P‑0‑0713, List of the motion step modes, set 1" The number of the objected cam shaft profile can be seen from the second digit of the number of the diagnostic mes‐ sage 71…78: The checked motion step is "Velocity in rest", "Ve‐ Check list "P‑0‑0707, List of the strokes, set 0" or "P‑0‑0714, locity in velocity" or "Rest in velocity". The stroke of the mo‐ List of the strokes, set 1" tion step is inadmissibly "0" The number of the checked motion step can be seen from the second digit of the number of the diagnostic message See also functional firmware description "Electronic motion profile with real/ virtual master axis" 5.5.4 F2005 Cam shaft invalid Allocation Contained in 06VRS: «HDH» 78/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

When the cam shaft mode is active, the drive monitors whether one of the cam shaft profiles contains invalid elements or is incomplete.

Cause Remedy

One of cam shaft profiles is invalid Check cam shaft profiles and, if necessary, reload them ("P‑0‑0072, Cam shaft profile1" "P‑0‑0092, Cam shaft pro‐ file 2", "P‑0‑0780, Cam shaft profile3" or "P‑0‑0781, Cam shaft profile4". In case of doubt contact installation programmer or machine manufacturer See also Functional Description of firmware "Electronic Cam Shaft with Real/ Virtual Master Axis" 5.5.5 F2006 MMC was removed Allocation Contained in 06VRS: «HDH»

The drive monitors whether the MMC is available when it is used as an active memory, i.e. when the parameters are stored in the MMC.

Cause Remedy

MMC is used as active memory and was removed from drive Put MMC in its slot at the drive controller again and then controller under voltage start command "S‑0‑0099, C0500 Reset class 1 diagnostics" in order to clear error Loose contact in MMC slot or MMC incorrectly plugged Check fixing of MMC and, if necessary, plug it in correctly MMC defective Replace MMC MMC slot defective Replace control section or entire drive controller

When switching the active operation mode, the drive was switched to a non- initialized operation mode. For the operation modes that can be selected, please see descriptions of the operation mode parameters: ● S‑0‑0032, Primary operation mode ● S‑0‑0033, Secondary operation mode 1 ● S‑0‑0034, Secondary operation mode 2 ● S‑0‑0035, Secondary operation mode 3 As of MPx03, in addition: ● S‑0‑0284, Secondary operation mode 4 ● S‑0‑0285, Secondary operation mode 5 ● S‑0‑0286, Secondary operation mode 6 ● S‑0‑0287, Secondary operation mode 7 RE30159-WA Bosch Rexroth AG 79/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Drive-integrated PLC (IndraMotion MLD) or one of following Enter desired operation mode in selected operation mode control words were used to select an operation mode that parameter was not initialized (e.g., S‑0‑0032="0"): ● "S‑0‑0134, Master control word" (with SERCOS) ● "P‑0‑4077, Field bus: control word" (with field bus) ● "P‑0‑4028, Device control word" ● "P‑0‑0120, Control word easy startup" See also Functional Description of firmware "Selecting the Operation Mode". 5.5.7 F2008 RL The motor type has changed. Allocation Contained in 06VRS: «HDH»

In the initialization phase (after activation of the drive), the controller checks whether the connected motor corresponds to the type designation in "S‑0‑0141, Motor type". If not, error F2008 is generated and the controller prompts the user to load the motor-specific control loop parameter values from the encoder memory of the motor (the display of the control panels shows "RL").

Cause Remedy

Motor was replaced by a different motor type. Clear error with ‑ or ‑ "S-0-0099, C0500 Reset class 1 diagnostics" Parameter "S‑0‑0141, Motor type" of parameter file loaded ‑ or ‑ to drive controller differs from connected motor type. Press the "Esc" key on the control panel of controller ‑ or ‑ Note: After this error is cleared, command "S‑0‑0262, C07_x Drive controller was switched on for first time. Motor type Load defaults procedure command" is executed unless this stored in "S‑0‑0141, Motor type" differs from connected mo‐ was deactivated in "P‑0‑0556, Config word of axis tor type. controller". Attention: Execution of this command causes the existing control loop settings to be overwritten with the default control loop settings from the encoder memory. See also Functional Description of firmware "Control Panels of the IndraDrive Controllers" 5.5.8 F2009 PL Load parameter default values Allocation Contained in 06VRS: «HDH»

When the firmware is replaced (firmware update), the non-volatile memory (internal memory or MMC) is automatically analyzed; during the analysis an error was detected. During the transition checks for the communication phases 3 and 4, the ope‐ rating data (parameter values) are subsequently verified; parameters with in‐ valid operating data (normally only all new parameters) are output in the pa‐ rameters "S‑0‑0021, IDN list of invalid operating data for communication phase 2" or "S‑0‑0022, IDN list of invalid operating data for communication phase 3". 80/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

NOTICE Property damage caused by unintended overwriting of parameters and positioning blocks! ⇒ Before executing the command for loading the parameter default values by "clear errors", you should save the current parameter set.

Cause Remedy

Drive is started with new firmware for the first time or a ver‐ By clearing error via control panel, all parameter values are sion update was carried out due to which number of non-vol‐ cleared and set to original values (default values). atile parameters has changed. ‑ or ‑ Error is cleared by starting command "S‑0‑0099, C0500 Reset class 1 diagnostics". Parameters that can be read from memory remain at their last stored value, all parame‐ ters that cannot be read from the memory (new parameters) are set to default values and marked as being invalid. ‑ or ‑ By starting command "S‑0‑0262, C07_x Load defaults procedure command" with option "Load defaults", F2009 is automatically cleared. Parameter memory (MMC or internal memory) is defective Check MMC and replace it, if necessary, or replace control so that error F2009 keeps reappearing. section or entire drive controller.

See also Functional Description of firmware "Control Panels of the IndraDrive Controllers" 5.5.9 F2010 Error when initializing digital I/O (-> S-0-0423) Allocation Contained in 06VRS: «HDH»

Up to firmware version 04VRS, the name of the error is "F2010 Error when initializing digital inputs/outputs".

An error occurred during the first initialization of the drive (initialization of digi‐ tal inputs/outputs). RE30159-WA Bosch Rexroth AG 81/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Conflict with last stored parameters of digital inputs/outputs Check following parameter contents and correct them, if necessary: ● P‑0‑0300, Digital I/Os, assignment list ● P-0-0301, Digital I/Os, bit numbers ● P‑0‑0302, Digital I/Os, direction With master communication PL available: ● S-0-0026, Configuration list signal status word ● S-0-0328, Assign list signal status word ● S-0-0027, Configuration list signal control word ● S-0-0329, Assign list signal control word With optional module MD1 or MD2 available: ● P-0-0681, Assignment IDN -> parallel output 1 ● P-0-0682, Assignment parallel input 1 -> IDN As of firmware version MPx05: You might possibly find some information on incorrectly configured parameters in "S-0-0423, IDN-list of invalid op. data for parameterization level"

5.5.10 F2018 Device overtemperature shutdown Allocation Contained in 06VRS: «HDH»

The heat sink temperature of the device is monitored by a temperature sen‐ sor and a temperature model. When the heat sink temperature has reached the maximum value, the device is switched off in order to protect it against destruction.

Before the error F2018 is triggered, the warning "E2050 Device overtemp. prewarning" is output for 30 seconds. The error can only be cleared when the device has cooled down.

Cause Remedy

Overtemperature (heat sink) due to overload of device Switch drive off and let it cool down. Check mechanical sys‐ tem and drive sizing (on average, working power may not exceed continuous power of drive) For liquid-cooled devices: Check dimensioning of cooling system (see documentation with part number R911309636) Ambient temperature too high. Specified performance data Reduce ambient temperature, e.g. by cooling the control is valid up to an ambient temperature of 40 °C cabinet Heat sink of device is dirty Clean heat sink Convection is prevented by other components or mounting Mount device vertically and provide sufficient space for ven‐ position in control cabinet tilating heat sink Device-internal blower failed If blower fails, replace device or power section Failure of air conditioning for control cabinet Check air conditioning of control cabinet Incorrect dimensioning of control cabinet with regard to heat Check dimensioning of control cabinet dissipation 82/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy For liquid-cooled devices: Connect cooling system No cooling system connected For liquid-cooled devices: Check cooling system and remove error Error in cooling system, e.g. coolant pump defective or filter clogged; thereby flow rate too small / inlet temperature of coolant too high See also Functional Description of firmware "Current Limitation Loop". 5.5.11 F2019 Motor overtemperature shutdown Allocation Contained in 06VRS: «HDH»

The motor temperature measured by the temperature sensor has reached the limit value in "S‑0‑0204, Motor shutdown temperature". The drive is im‐ mediately decelerated according to the selected error reaction ("P‑0‑0119, Best possible deceleration") and shut down. The controller outputs F2019.

For MHD, MKD, MKE and LSF motors, "S‑0‑0204, Motor shut‐ down temperature" is permanently set and cannot be changed. The error can only be cleared when the motor has cooled down.

Cause Remedy

Motor shutdown temperature incorrectly parameterized Check and correct parameterization of "S‑0‑0204, Motor shutdown temperature" by means of motor or temperature sensor data sheet Motor is overloaded. Effective torque demanded from motor Check dimensioning of motor. In case of installations that has been above allowed continuous torque too long have been operated for a long time, check whether drive conditions have changed (with regard to dirt accumulation, friction, moved masses etc.) Line interruption, ground fault or short circuit in line for motor Check line for motor temperature monitoring for line interrup‐ temperature monitoring tion, ground fault or short circuit Instability in speed control loop Check parameterization of speed control loop For liquid-cooled motors: Connect cooling system No cooling system connected For liquid-cooled motors: Check cooling system and remove error Error in cooling system, e.g. coolant pump defective or filter clogged; thereby flow rate too small / inlet temperature of coolant too high See also Functional Description of firmware "Motor Temperature Monitoring". 5.5.12 F2021 Motor temperature monitor defective Allocation Contained in 06VRS: «HDH»

The function of the temperature sensor used for motor temperature monitor‐ ing is cyclically monitored by the drive, as soon as the drive is ready for pow‐ er output ("Ab"). Motors MSK, MAD, MAF When the voltage level of the temperature sensor is outside of the allowed range of values, error F2021 is output for Rexroth motors of the MSK, MAD or MAF lines. RE30159-WA Bosch Rexroth AG 83/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Motors MHD, MKD, MLF, LSF When a voltage suggesting a temperature sensor defect or a contact error has been detected at the temperature sensor input for 30 seconds, error F2021 is output for Rexroth motors of the MHD, MKD, MLF or LSF lines. Motors 2AD, ADF, 1MB When a voltage suggesting too low motor temperature, a temperature sensor defect or a contact error has been detected at the temperature sensor input for 30 seconds, error F2021 is output for Rexroth motors of the 2AD, ADF or 1MB lines. The drive reacts to F2021 with the error reaction which has been set or it re‐ fuses drive enable.

The error can only be cleared, when its cause has been removed.

Cause Remedy

Interruption or short circuit in line for motor temperature Check motor connection and cable for interruption and short monitoring circuit Temperature sensor in motor is defective Use replacement temperature sensor (if available) or re‐ place motor Only for Rexroth motors of lines 2AD, ADF or 1MB: Observe minimum allowed ambient temperature (see docu‐ Motor temperature stays below allowed ambient tempera‐ mentation of respective motor line) ture range Drive controller defective Replace drive controller or power section See also Functional Description of firmware "Motor Temperature Monitoring". 5.5.13 F2022 Device temperature monitor defective Allocation Contained in 06VRS: «HDH»

The function of the temperature sensor used for device temperature monitor‐ ing is cyclically monitored. When a temperature equal to or less than ‑20 °C has been measured for 30 seconds, a defect is supposed to have occurred and the F2022 error is out‐ put.

Cause Remedy

Sensor in drive controller is defective Replace drive controller or power section

5.5.14 F2025 Drive not ready for control Allocation Contained in 06VRS: «HDH»

When drive enable is set, the drive must be ready; i.e. it must signal the drive status "Ab". If the drive only signals bb (betriebsbereit = ready for operation), i.e. the DC bus voltage is too low or the drive is in parameter mode, the drive generates this error message. 84/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Drive enable (AF) was set before power supply had been Check logic for activating drive in connected control unit. switched on ‑ or ‑ Drive enable (AF) was set although drive is still in parameter mode

5.5.15 F2026 Undervoltage in power section Allocation Contained in 06VRS: «HDH»

The DC bus voltage value is monitored by the drive controller and the supply unit. Drive Controllers HMS, HMD, If the DC bus voltage falls below the minimum value determined for the drive HCS (see value of "P‑0‑0114, Undervoltage threshold") or it reacts to "DC bus not ok" of the module bus, the drive generates the error message F2026 if "non- fatal error" has been set with regard to the reaction to undervoltage in "P‑0‑0118, Power supply, configuration". HMV Supply Units If the DC bus voltage falls below 75% of the mains voltage crest value that was detected when the mains contactor had been switched on, "error in supply" is signaled via the module bus and F2026 is displayed at the device. Power is switched off!

Cause Remedy

Power is switched off without previous drive deactivation by Check logic for activating drive in connected control unit means of drive enable ("AF") Failure in power supply or overload of power supply Check power supply; for HCS02, particularly check wiring of mains supply to connection X3 Mains failure Check cause of mains failure, switch mains voltage on again Temporary supply unit overload Reduce processing cycle of machine See also Functional Description of firmware "Power Supply" 5.5.16 F2028 Excessive deviation Allocation Contained in 06VRS: «HDH»

When the position control loop is closed the drive monitors whether it can fol‐ low the preset position command value. To do this a actual model position value is calculated in the drive and compared with the real actual position val‐ ue. If the difference of calculated and real actual position value exceeds the value entered in parameter "S‑0‑0159, Monitoring window" it is obvious that the drive cannot follow the preset command value and the error F2028 is generated.

The maximum deviation between calculated and real actual posi‐ tion value can be read from "P‑0‑0098, Max. model deviation".

Cause Remedy

Parameterized monitoring window too small Check and, if necessary, correct content of "S‑0‑0159, Moni‐ toring window". Too high command acceleration due to incorrect command Reduce acceleration value set by the control unit (see con‐ value set by control unit trol unit manual) RE30159-WA Bosch Rexroth AG 85/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy Numeric value in "S‑0‑0092, Bipolar torque/force limit value" Check content of parameter "S‑0‑0092, Bipolar torque/force too low limit value" and set it to maximum value allowed for applica‐ tion. Axis is blocked or sluggish Check mechanical system and remove axis blocking. Incorrect or non-optimized control loop parameters Check control loop setting (e. g. "S‑0‑0104, Position loop Kv- factor", "S‑0‑0100, Velocity loop proportional gain", "P‑0‑0556, Control word of axis controller"). Acceleration capacity of drive was exceeded Check drive dimensioning

5.5.17 F2031 Encoder 1 error: Signal amplitude incorrect Allocation Contained in 06VRS: «HDH»

The signals of the measuring system (encoder 1) are monitored on hardware and software level with regard to their amplitudes and signal shape. If a sig‐ nal (e.g. sin or cos) leaves the thresholds monitored by the hardware or if the signals are disturbed in such a way that a position error occurs, the error F2031 is generated in conjunction with the function "redundant motor encod‐ er".

As the position of the measuring system is no longer generated correctly when the error F2031 is detected, it is necessary to initi‐ alize the encoder again. The error can only be cleared in communication phase 2 (param‐ eter mode).

Cause Remedy

Defective encoder cable or cable shielding Check cable to measuring system and replace it, if necessa‐ ry Measuring system defective Check measuring system and replace it, if necessary Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if neces‐ measuring systems sary Measuring system dirty Clean or replace measuring system Hardware defect on control section of drive Replace control section or entire drive controller

If the X10 interface at the IndraDrive M controller has been equipped with a digital I/O extension, this requires an external 24 V power supply. 86/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Voltage externally applied is outside of allowed range [and Supply interface with controlled power supply unit. temporary failures (voltage peaks) are detected]. At least one of the inputs was connected with reversed po‐ Check wiring larity. At least one of the outputs has short circuit. Check wiring At least one of the outputs is overloaded. Supply motor brake and interface with different power supply units, especially in the case of long motor cables.

5.5.19 F2036 Excessive position feedback difference Allocation Contained in 06VRS: «HDH»

In cyclic operation the difference between actual position value 1 and position value 2 (see also "P‑0‑0391, Actual position value difference encoder1 ‑ en‐ coder2") is compared to "S‑0‑0391, Monitoring window feedback 2". If the ab‐ solute value of the difference is greater than the monitoring window and both encoders have been homed, the error F2036 is generated. The drive carries out the error reaction parameterized in "P‑0‑0119, Best pos‐ sible deceleration" and the reference bits of both encoders are cleared ("S‑0‑0403, Position feedback value status").

The monitoring function is inactive if the value "0" was entered in the "S‑0‑0391, Monitoring window feedback 2" parameter.

Cause Remedy

Parameters for encoder 2 incorrect Check "S‑0‑0115, Position feedback 2 type" and "S‑0‑0117, Feedback 2 Resolution" Mechanical system between motor shaft and encoder 2 in‐ Check "S‑0‑0121, Input revolutions of load gear", "S‑0‑0122, correctly parameterized. Output revolutions of load gear", and "S‑0‑0123, Feed con‐ stant". Mechanical system between motor shaft and encoder 2 is Increase "S‑0‑0391, Monitoring window feedback 2", switch not rigid (e.g. gear play, slip) and monitoring window is too off in the case of gear with slip. small. Encoder cable defective Replace encoder cable Maximum input frequency of encoder interface exceeded. Reduce velocity Encoder 2 was not mounted to driven axis Set "S‑0‑0391, Monitoring window feedback 2" to "0" (switch monitoring function off) Incorrect encoder gear settings Check relevant encoder parameters and correct them, if necessary: ● "P‑0‑0121, Gear 1 motor-side (motor encoder)" / "P‑0‑0122, Gear 1 encoder-side (motor encoder)" ● "P‑0‑0124, Gear 2 load-side (optional encoder)" / "P‑0‑0125, Gear 2 encoder-side (optional encoder)" ● "S‑0‑0121, Input revolutions of load gear"/ "S‑0‑0122, Output revolutions of load gear" Position data reference of an absolute encoder incorrect Execute "P‑0‑0012, C0300 Command Set absolute measur‐ ing" RE30159-WA Bosch Rexroth AG 87/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

See also Functional Description of firmware " Velocity Control with Cyclic Command Value Input". 5.5.20 F2037 Excessive position command difference Allocation Contained in 06VRS: «HDH»

When the drive is running in the operation mode "position control with cyclic command value input", the incoming position command values (cf. "S‑0‑0047, Position command value") are monitored. If the position difference between two successive position command values is greater than or equal to the value in "S‑0‑0091, Bipolar velocity limit value", the position command value monitor is activated and the error F2037 is generated. The excessive position command value is stored in parameter "P‑0‑0010, Excessive position command value". The last valid position command value is stored in parameter "P‑0‑0011, Last valid position command value".

Cause Remedy

Value in "S‑0‑0091, Bipolar velocity limit value" too low Check and, if necessary, correct parameterization of "S‑0‑0091, Bipolar velocity limit value" Incorrect command value set by control unit Contact control unit manufacturer or programmer See also Functional Description of firmware "Position Control with Cyclic Command Value Input" 5.5.21 F2039 Maximum acceleration exceeded Allocation Contained in 06VRS: «-»

In cyclic position control the allowed acceleration limit value was exceeded.

The acceleration monitor can be switched off by means of "P‑0‑0556, Control word of axis controller".

Cause Remedy

Value in "S‑0‑0138, Bipolar acceleration limit value" too low. Check and, if necessary, correct parameterization of "S‑0‑0138, Bipolar acceleration limit value". Incorrect command values set by control unit (position com‐ Contact control unit manufacturer or programmer. mand values). Preset acceleration value was greater than value parameter‐ Reduce acceleration value used ized in "S‑0‑0138, Bipolar acceleration limit value". ● S‑0‑0042, Homing acceleration ● S‑0‑0260, Positioning acceleration ● P‑0‑0057, Return acceleration

5.5.22 F2040 Device overtemperature 2 shutdown Allocation Contained in 06VRS: «HDH»

A switch-off value for the second temperature sensor is stored in element 3 of parameter "P‑0‑4059, Electric type data of power section". If parameter "P‑0‑0816, Amplifier temperature 2" exceeds the switch-off val‐ ue, the error F2040 is generated and the device is switched off. 88/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Ambient temperature too high. Specified performance data Reduce ambient temperature, e.g. by cooling the control are valid up to an ambient temperature of 40 C. cabinet. Heat sink of device is dirty. Clean heat sink Convection is prevented by other components or mounting Mount device vertically and provide sufficient space for ven‐ position in control cabinet. tilating heat sink. Blower of device is defective. Replace device

5.5.23 F2042 Encoder 2: Encoder signals incorrect Allocation Contained in 06VRS: «HDH»

The signals of the measuring system (encoder 2) are monitored with regard to their amplitudes and signal shape. If a signal (sin or cos) leaves the al‐ lowed range or if the signals are disturbed in such a way that a position error occurs, this error is generated.

As the position is no longer generated correctly when this error is detected, it is necessary to initialize the encoder again.

Cause Remedy

Defective encoder cable or cable shielding. Check cable to measuring system and replace it, if necessa‐ ry. Encoder defective Check measuring system and replace it, if necessary. Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if neces‐ measuring systems. sary. Measuring system dirty Replace measuring system. Hardware defect on control section of drive. Replace control section or entire drive controller.

When using an incremental encoder with square-wave signals, monitoring is carried out with regard to an unallowed edge. With regard to the software the signals of a resolver are moni‐ tored for their level.

See also "E2075 Encoder 2: encoder signals disturbed". 5.5.24 F2043 Measuring encoder: Encoder signals incorrect Allocation Contained in 06VRS: «HDH»

The signals of the measuring system (measuring encoder) are monitored on hardware and software level with regard to their amplitudes and signal shape. If a signal (e.g., sin or cos) leaves the allowed range or if the signals are dis‐ turbed in such a way that a position error occurs, this error is generated. RE30159-WA Bosch Rexroth AG 89/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

As the position is no longer generated correctly when this error is detected, the encoder must be re-initialized. The error can only be cleared, when the signals of the encoder are in the allowed range or the drive is in parameter mode.

Cause Remedy

Defective encoder cable or cable shielding Check cable to measuring system and replace it, if necessa‐ ry Encoder defective Check measuring system and replace it, if necessary Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if neces‐ measuring systems sary Measuring system dirty Replace measuring system Hardware defect on control section of drive Replace control section or entire drive controller

See also "E2076 Measuring encoder: Encoder signals disturbed" 5.5.25 F2044 External power supply X15 error Allocation Contained in 06VRS: «HDH»

The external 24V voltage supply for the digital I/Os available on the optional module (HCC01) are monitored by the drive. If the 24V voltage supply is outside the range from 19 V to 30 V, error F2044 is generated.

The error can only be deleted if the external voltage supply is without fault.

Cause Remedy

Short-time malfunctions (voltage peaks) and/or voltage Use a controlled power supply unit drops At least one of the inputs is connected with reverse polarity Check wiring incl. cable and correct, if necessary At least one of the outputs is short-circuited or overloaded Check wiring incl. cable and remedy short circuit, if necessa‐ ry Voltage drops due to application of the motor brake Supply motor brake and interface with different power supply units, particularly with long motor lines

5.5.26 F2048 Low battery voltage Allocation Contained in 06VRS: «HDH»

The battery was designed for a service life of 10 years in its in‐ stalled state. 90/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

In the case of Rexroth motors of the MKD/MKE line, the absolute position in‐ formation is maintained, by means of battery-buffered electronics in the motor feedback, even when the drive controller has been switched off. The battery voltage is checked in the transition command from parameter to operating mode during the initialization of the drive.

As long as the drive is locked with a customer password, the error F2048 cannot be cleared!

CAUTION Error when controlling motors and moving parts! When the error occurs for the first time, the absolute encoder function is only guaranteed for approx. another 2 weeks! Replace battery immediately!

Cause Remedy

Battery voltage has fallen below 3.1 V Clear error and immediately arrange for and prepare re‐ placement of battery (see instructions in Project Planning Manual for respective motor). For replacement of battery ob‐ serve warning notice below! Battery voltage has fallen below 2.8 V Error cannot be cleared any longer. Battery must be re‐ placed immediately (see instructions in Project Planning Manual for respective motor). For replacement of battery ob‐ serve warning notice below!

DANGER Lethal electric shock caused by live parts with more than 50 V! ⇒ The battery must be replaced with the control voltage switched on. The re‐ placement of the battery may only be carried out by a qualified electrician.

If the control voltage is switched off after the battery was re‐ moved, the absolute position data reference gets lost. The posi‐ tion data reference then has to be reestablished.

See also Functional Description of firmware " Establishing the Position Data Reference". 5.5.27 F2050 Overflow of target position preset memory Allocation Contained in 06VRS: «HDH»

In the case of drive-controlled positioning it is possible to preset a new posi‐ tioning command value x(k+1) while the drive is moving to the target position of the last positioning command value x(k). The new positioning command value is stored in an input buffer (target position preset memory) and is not cleared until it has been accepted. RE30159-WA Bosch Rexroth AG 91/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

There was an attempt to preset a new positioning command Check command value in control unit and make sure that value x(k+2) while drive was moving to target position of po‐ new positioning command value x(k+2) is only preset when sitioning command value x(k) positioning command value x(k+1) was accepted and drive moves to corresponding target position Incorrect command value acceptance (toggling of "S‑0‑0346, Check control program and only toggle bit 0 of "S‑0‑0346, Positioning control word") in control unit causes positioning Positioning control word" once for each new positioning command value to be accepted several times command value, because every change of the bit causes current positioning command value to be accepted. Incorrect positioning mode for "approaching target" was set Set positioning mode "immediately moving to new target" for in "S‑0‑0346, Positioning control word". "approaching target" in "S‑0‑0346, Positioning control word". See also Functional Description of firmware " Drive-Controlled Positioning". 5.5.28 F2051 No sequential block in target position preset memory Allocation Contained in 06VRS: «HDH»

In the case of the positioning block mode "sequential block without intermedi‐ ate stop" the drive is monitoring whether a new positioning block is available in the target position preset memory when the target position has been reached.

Cause Remedy

When target position of a sequential block has been Preset sequential block in time (before target position has reached, there is no new positioning block in target position been reached) preset memory Positioning block mode by mistake set to "sequential block Check positioning block mode and switch off sequential without intermediate stop". block processing, if necessary ("S‑0‑0346, Positioning con‐ trol word"). See also Functional Description of firmware " Drive-Controlled Positioning". See also Functional Description of firmware " Positioning Block Mode". 5.5.29 F2055 External power supply X31/X32 error Allocation Contained in 06VRS: «HDH»

In case of "High" control from one or several digital outputs of the X31/X32 interface at the drive controller (assignment in "P‑0‑0300, Digital I/O, assign‐ ment list"), no "High" signal (+DC24 V) is output.

Cause Remedy

24 V supply of the X31/X32 interface is not connected Connect 24 V supply Short-circuited output and/or outputs Remedy short circuit(s) See also functional firmware description "Digital inputs/outputs" 5.5.30 F2057 Target position out of travel range Allocation Contained in 06VRS: «HDH»

Error Messages

allowed travel range of the drive. The error F2057 was generated because the preset target position is outside of the allowed travel range. The allowed travel range of the drive is defined by ● S‑0‑0049, Positive position limit value ● S‑0‑0050, Negative position limit value ● S‑0‑0278, Maximum travel range The position limit value monitor and thus the monitoring of the allowed travel range can be activated / deactivated in "S‑0‑0055, Position polarities". The reaction to a travel range error can be set in "P‑0‑0090, Travel range limit parameter".

Cause Remedy

Position limit values ("S‑0‑0049, Positive position limit Check parameterization of position limit values and adjust it value", "S‑0‑0050, Negative position limit value") incorrectly according to desired travel range ("S‑0‑0049, Positive parameterized position limit value" has to be greater than "S‑0‑0050, Negative position limit value") Position limit value monitor has been activated although it is Deactivate position limit value monitor if it is not needed not needed (e.g., in modulo operation) In the case of relative interpolation, value for travel range Check preset travel range (cf. "S‑0‑0258, Target position") was set too high or several travel ranges that are added and, if necessary, adjust it in control unit program cause effective target position (cf. "S‑0‑0430, Effective target position") to be outside of position limits In the case of absolute interpolation, preset target position is Check preset target position (cf. "S‑0‑0258, Target position" incorrect or "S‑0‑0282, Positioning command value") and, if necessa‐ ry, adjust it in control unit program (only enter "S‑0‑0258, Target position" within position limit values) In "positioning block mode" one or more target positions Check parameterized target positions in "P‑0‑4006, have been incorrectly parameterized or incorrect positioning Positioning block target position" and block selection block is selected (P‑0‑4026, Positioning block selection). In addition, check block selection via respective master communication (e.g., field bus or digital I/Os). See also Functional Description of firmware "Position Limitation/Travel Range Limit Switches" For "relative interpolation", see Functional Description of firmware "Drive- Controlled Positioning" For "absolute interpolation", see Functional Description of firmware "Drive- Internal Interpolation" 5.5.31 F2058 Internal overflow by positioning input Allocation Contained in 06VRS: «HDH»

In operating modes that are using the internal path generator (interpolation, positioning, positioning block mode and spindle positioning), the residual path to be traveled and the braking distance are monitored to find out whether the numeric range is exceeded. RE30159-WA Bosch Rexroth AG 93/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Due to command value input a residual path was generated Check command value input, positioning velocity or potenti‐ that is greater than 2^31. ometer value Note: As the internal position resolution is determined by the travel range (from ‑travel range to +travel range the resulting max. distance is less than 2^31), this can only occur with axes with modulo scaling. In this case only if relative distances are stringed together several times without the axis being able to follow. Calculated braking distance is greater than 2^31 Increase "S‑0‑0278, Maximum travel range" – or ‑ Increase deceleration in "S‑0‑0359, Positioning decelera‐ tion", "S‑0‑0372, Drive Halt acceleration bipolar" or "P‑0‑4063, Positioning block deceleration".

5.5.32 F2059 Incorrect command value direction when positioning Allocation Contained in 06VRS: «HDH»

In the operating modes "drive-controlled positioning" and "positioning block mode" it is possible to jog the axis in both directions and preset relative dis‐ tances in both directions. If "S‑0‑0076, Position data scaling type" was set in such a way that the posi‐ tion data of the axis are to be processed in modulo format and positive or negative rotational direction was selected in "S‑0‑0393, Command value mode", a command value in the wrong direction causes error F2059 to be generated.

Cause Remedy

In operating mode "drive-controlled positioning", target posi‐ Check relative positioning input ("S‑0‑0282, Positioning com‐ tion points to wrong direction. mand value") Rotational direction of "modulo axis" incorrectly parameter‐ Check command value mode that was set ("S‑0‑0393, Com‐ ized for drive-controlled positioning procedures mand value mode") In operating mode "positioning block mode", target position Check relative positioning input ("P‑0‑4006, Positioning points to wrong direction. block target position"). You are trying to jog in wrong direction. Jogging only in allowed rotational direction ("S‑0‑0346, Posi‐ tioning control word") See also Functional Description of firmware: ● " Drive-Controlled Positioning" ● " Positioning Block Mode" 5.5.33 F2067 Synchronization to master communication incorrect Allocation Contained in 06VRS: «HDH»

The drive control is synchronized to the bus interface (SERCOS, Profibus, In‐ terbus, ...) via two phase control loops (Phase Locked Loop - PLL). The cor‐ rect function of the synchronization is monitored by monitoring the respective control deviation of the two PLLs for an allowed threshold. When the thresh‐ old is exceeded this error message is generated. 94/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Interference injection due to incorrect connection of master Check connection of master communication (incl. shield communication cause synchronization problems. connection) and correct it, if necessary. Synchronization clock of master oscillates very much due to Check field bus master and make sure synchronization clock software or hardware error in master (e.g. jitter of MST with is good and constant. SERCOS). Master communication hardware of drive controller is defec‐ Replace control section or entire drive controller. tive (e.g. optional SERCOS card).

See also Functional Description of firmware " Master Communication". 5.5.34 F2068 Brake error Allocation Contained in 06VRS: «HDH»

The holding brake current is monitored when the holding brake has been controlled. If the holding brake current is outside of the allowed range, the error F2068 is generated. Furthermore, the holding brake of controllers of the IndraDrive Cs type is monitored for wire break. If wire break has occurred, the error F2068 is gen‐ erated, too. If the activation of brake control causes problems with wire break monitoring, wire break monitoring can be deactivated (see "P‑0‑0525, Holding brake control word").

Cause Remedy

Supply voltage for holding brake has not been correctly con‐ Check supply voltage nected or is outside of tolerance (24 V +/-5 %) Motor cable has been incompletely connected Check motor cable Motor holding brake is defective Replace motor Drive controller is defective Replace drive controller

Controllers of type IndraDrive Cs: The error F2068 can only be cleared by switching off the supply voltage for the holding brake!

See also Functional Description of firmware "Motor Holding Brake" 5.5.35 F2074 Actual pos. value 1 outside absolute encoder window Allocation Contained in 06VRS: «HDH»

When switching off a drive with a motor encoder that can be evaluated in ab‐ solute form, the current actual position is stored in the drive. When switching the drive on again, the current position is compared to the position stored when the drive was switched off the last time. If the deviation is greater than the value in "P‑0‑0095, Absolute encoder monitoring window for motor encoder", the error message F2074 is generated. RE30159-WA Bosch Rexroth AG 95/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

The monitoring function can be switched off by "P‑0‑0095, Absolute encoder monitoring window for motor encoder"="0".

Cause Remedy

While switched off, axis was moved by more than value en‐ Make sure displayed position is correct in relation to ma‐ tered in "P‑0‑0095, Absolute encoder monitoring window for chine zero point. Then clear error and, if necessary, reestab‐ motor encoder". lish position data reference Value entered in "P‑0‑0095, Absolute encoder monitoring Check parameterization of "P‑0‑0095, Absolute encoder window for motor encoder" is too low for existing encoder monitoring window for motor encoder" and increase monitor‐ resolution so that normal encoder jitter already causes moni‐ ing window tor to be triggered Amplifier replaced without parameter update Clear error and establish position data reference Change in parameters of mechanical system (gear, feed Clear error and establish position data reference constant, ...) Motor encoder defective Replace motor or motor encoder

WARNING Risk of accident caused by unwanted axis motion! ⇒ Check position data reference. The encoder is defective if the position data reference is incorrect! Replace the motor and send it to the manufacturer's service department for inspection.

5.5.36 F2075 Actual pos. value 2 outside absolute encoder window Allocation Contained in 06VRS: «HDH»

When switching off a drive with an external encoder that can be evaluated in absolute form, the current actual position is stored in the drive. When switch‐ ing the drive on again, the current position is compared to the position stored when the drive was switched off the last time. If the deviation is greater than the value in "P‑0‑0096, Absolute encoder monitoring window for opt. encoder", the error message F2075 is generated.

By means of "P‑0‑0096, Absolute encoder monitoring window for opt. encoder", the monitoring function can be switched off.

Cause Remedy

While switched off, axis was moved by more than value en‐ Make sure displayed position is correct in relation to ma‐ tered in "P‑0‑0096, Absolute encoder monitoring window for chine zero point. Then clear error and, if necessary, reestab‐ opt. encoder" lish position data reference Value entered in "P‑0‑0096, Absolute encoder monitoring Check parameterization of "P‑0‑0096, Absolute encoder window for opt. encoder" is too low for existing encoder res‐ monitoring window for opt. encoder" and increase monitoring olution so that normal encoder jitter will already cause moni‐ window tor to be triggered. Encoder defective or encoder replacement Replace encoder, clear error and establish position data ref‐ erence Amplifier replaced without parameter update Clear error and establish position data reference Change in parameters of mechanical system (gear, feed Clear error and establish position data reference constant, ...) 96/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

WARNING Risk of accident caused by unwanted axis motion! ⇒ Check position data reference. The encoder is defective if the position data reference is incorrect! Replace the encoder and send it to the manufacturer's service department for inspection.

5.5.37 F2076 Actual pos. value 3 outside absolute encoder window Allocation Contained in 06VRS: «HDH»

When switching off a drive with a measuring encoder that can be evaluated in absolute form, the current actual position is stored in the drive. When switch‐ ing the drive on again, the current position is compared to the position stored when the drive was switched off the last time. If the deviation is greater than the value in "P‑0‑0097, Absolute encoder monitoring window for measuring encoder", the error message F2076 is generated.

The monitoring function can be switched off by "P‑0‑0097, Absolute encoder monitoring window for measuring encoder"="0".

Cause Remedy

While switched off, axis was moved by more than value en‐ Make sure displayed position is correct in relation to ma‐ tered in "P‑0‑0097, Absolute encoder monitoring window for chine zero point. Then clear error and, if necessary, reestab‐ measuring encoder". lish position data reference Value entered in "P‑0‑0097, Absolute encoder monitoring Check parameterization of "P‑0‑0097, Absolute encoder window for measuring encoder" is too low for existing encod‐ monitoring window for measuring encoder" and increase er resolution so that normal encoder jitter already causes monitoring window monitor to be triggered Encoder defective or encoder replacement Replace encoder, clear error and establish position data ref‐ erence Amplifier replaced without parameter update Clear error and establish position data reference Change in parameters of mechanical system (gear, feed Clear error and establish position data reference constant, ...)

5.5.38 F2077 Current measurement trim wrong Allocation Contained in 06VRS: «HDH»

The current measurement in the drive controller is adjusted in operation. The adjust values are checked for compliance with the allowed tolerance. If the values are higher the error message F2077 is generated.

Cause Remedy

Hardware of control section or power section defective. Replace power section or control section resp. entire drive controller. RE30159-WA Bosch Rexroth AG 97/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Only Rexroth service engineers or especially trained users are al‐ lowed to replace the control section or the power section. The re‐ placement of the entire drive controller is described in the Project Planning Manual for the power section. 5.5.39 F2086 Error supply module Allocation Contained in 06VRS: «HDH»

This error is signaled by the supply to the drives via the module bus. It has high priority and... ● causes error reaction in the drives in operation. The error message is displayed at these drives. ● causes power of the supply unit to be switched off or the Bb contact of converters to open (requires assignment of respective bit "P‑0‑0861, Status word of power section" to digital output!) and possibly causes DC bus short circuit (requires corresponding wiring!). This error can also have been caused by a fatal drive error that was signaled to the supply via the module bus. The respective settings must be made in "P‑0‑0118, Power supply, configuration".

Cause Remedy

Failure in power supply or overload of power supply. Check power supply Fatal error message of one or several drives of a drive sys‐ Identify drive or drives signaling a fatal error. Remove cause tem and message signaled to supply (configuration of error at respective drive or drives. P‑0‑0118). See also Functional Description of firmware " Power Supply". 5.5.40 F2087 Module group communication error Allocation Contained in 06VRS: «HDH»

The signal states of the module bus are incorrect.

The error can only be cleared, when the signals are error-free or the module bus communication was switched off.

Cause Remedy

Failure of control voltage supply of a module bus node while Supply all devices of a "drive system" with control voltage "drive system" is ready for power output or in operation Disturbance on module bus Identify and remove sources of disturbance Incorrect signal timing on module bus Identify and replace faulty device Module bus cable defective Identify and replace defective module bus cable; replace de‐ vice, if necessary See also Functional Description of firmware "Power Supply" 5.5.41 F2100 Incorrect access to command value memory Allocation Contained in 06VRS: «HDH»

An error occurred when accessing the flash/internal memory. 98/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Failure occurs sporadically (firmware error) Clear error and contact our service department for firmware update. Hardware in control section is defective Should error occur repeatedly, control section or entire drive has to be replaced.

When accessing the Multi Media Card (MMC) an error occurred.

Cause Remedy

Failure occurs sporadically (firmware error) Clear error and contact our service department in order to get a firmware update MMC has not been plugged in correctly or is defective Clear error and check MMC or plug it in correctly. If error oc‐ curs again when MMC is accessed, MMC has to be re‐ placed. MMC slot in control section is defective Clear error and check MMC slot. If error occurs again when MMC is accessed, control section or entire drive controller has to be replaced. See also Functional Description of firmware "MultiMediaCard (MMC)" 5.5.43 F2102 It was impossible to address I2C memory Allocation Contained in 06VRS: «HDH»

When addressing a memory via the I2C bus an error occurred.

Cause Remedy

Failure occurs sporadically (firmware error) Clear error and contact our service department in order to get a firmware update. Encoder cable defective or bad shielding Clear error. Replace defective encoder cable or improve shielding. Encoder memory or encoder electronics is defective. Clear error. Replace encoder or motor Hardware defect on control section Replace control section or entire drive controller

See also Functional Description of firmware "Measuring Systems" 5.5.44 F2103 It was impossible to address EnDat memory Allocation Contained in 06VRS: «HDH» RE30159-WA Bosch Rexroth AG 99/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

When addressing a memory via the EnDat bus an error occurred.

Cause Remedy

Failure occurs sporadically (firmware error) Clear error and contact our service department in order to get a firmware update. Encoder cable defective or bad shielding Clear error. Replace defective encoder cable or improve shielding. Encoder memory or encoder electronics is defective Clear error. Replace encoder or motor. Hardware defect on control section Replace control section or entire drive controller.

See also Functional Description of firmware " Measuring Systems". 5.5.45 F2104 Commutation offset invalid Allocation Contained in 06VRS: «HDH»

The commutation offset value stored in the motor encoder memory was de‐ tected to be invalid.

The motor mustn't be operated without valid commutation offset!

Cause Remedy

Failure occurs sporadically (firmware error) Clear error. Then execute command "P‑0‑0524, C1200 Commutation offset setting command"; if error occurs again contact our service department in order to get a firmware up‐ date. Encoder memory or encoder electronics is defective Clear error. Replace encoder or motor. Then execute com‐ mand "P‑0‑0524, C1200 Commutation offset setting com‐ mand". See also Functional Description of firmware " Commutation Setting". 5.5.46 F2105 It was impossible to address Hiperface memory Allocation Contained in 06VRS: «HDH»

When addressing a memory via the HIPERFACE bus an error occurred.

Cause Remedy

Failure occurs sporadically (firmware error) Clear error and contact our service department in order to get a firmware update. Encoder cable defective or bad shielding Clear error. Replace defective encoder cable or improve shielding. Encoder memory or encoder electronics is defective Clear error. Replace encoder or motor. Hardware defect on control section Replace control section or entire drive controller. 100/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Only Rexroth service engineers or especially trained users are al‐ lowed to replace the control section. The replacement of the en‐ tire drive controller is described in the Project Planning Manual of the power section, the saving and loading of the parameters is ex‐ plained in the Functional Description of the firmware.

See also Functional Description of firmware " Measuring Systems". 5.5.47 F2110 Error in non-cyclical data communic. of power section Allocation Contained in 06VRS: «HDH»

An error occurred in the communication between control section and power section.

Cause Remedy

Failure occurs sporadically (firmware error) Clear error and contact our service department for firmware update Hardware defective Should error occur repeatedly, control section or entire de‐ vice has to be replaced

Due to the setting in "P-0-4070, Parameter storage configuration" or due to the drive (a distributed servo drive KSM1) is used), it is necessary to have an MMC. The MMC is checked during the initialization phase; an error occurred during the check. The drive only runs up to communication phase 2 and refuses further phase progression. Communication via the SERCOS interface, however, and thereby the reading of the error message are ensured.

Cause Remedy

It was impossible to address MMC Check whether MMC was plugged in and that it has been correctly inserted - or - MMC might possibly be defective, replace it by another one "Programming module mode" was set via P-0-4070, but Change parameter storage configuration to "init/update me‐ MMC hasn't been plugged dium" (P-0-4070=0)

5.5.49 F2121 MMC: Incorrect data or file, create correctly Allocation Contained in 06VRS: «HDH»

1) Component of the drive system Rexroth IndraDrive Mi RE30159-WA Bosch Rexroth AG 101/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

The distributed servo drive KSM (component of the drive system Rexroth IndraDrive Mi) is only ready for operation with the MMC having been plugged. The MMC is checked during the initialization phase; an error occurred during the check. The drive only runs up to communication phase 2 and refuses further phase progression. Communication via the SERCOS interface, however, and thereby the reading of the error message are ensured.

Cause Remedy

MMC itself is alright, but directories, files or data on the Copy contents of previously made backup copy to MMC MMC are faulty or missing. Particularly firmware, parameters (see also "Project Planning Manual", "Rexroth IndraDrive and retain data must be available. Mi": "MMC")

5.5.50 F2122 MMC: Incorrect IBF file, correct it Allocation Contained in 06VRS: «HDH»

Cause Remedy

In "Firmware" folder, operation firmware (file with extension Check and correct MMC and "Firmware" folder with appro‐ ".ibf") is missing or more than on file with extension ".ibf" priate reader was found Operation firmware is defective Order firmware again; transmission error might possibly Note: Writing the MMC takes a relatively long time. If you do have occurred. Afterwards, copy firmware to MMC again. not wait until end of writing process, file with operation firm‐ - or - ware on MMC is not complete and it will be detected as be‐ Copy functioning operation firmware either from backup ing defective. copy or from another MMC to defective MMC Tip: For firmware update, it is necessary to replace file with extension ".ibf" (operation firmware); it is strongly recom‐ mended that you do not delete operation firmware, but re‐ name file extension, e.g. from ".ibf" to ".ibx". In any case, you should make a backup copy of current operation firm‐ ware.

5.5.51 F2130 Error comfort control panel Allocation Contained in 06VRS: «HDH»

An error occurred in the communication with the comfort control panel (VCP01): ● "reset" couldn't be carried out ● error during download of application or firmware ● communication to control panel disturbed 102/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Communication disturbed Remove EMC problems; check shielding of controller Firmware / application problem Replace firmware and / or application on control panel; re‐ place drive firmware Control panel defective Replace control panel Control section defective Should error occur repeatedly, control section or entire drive has to be replaced

In the case of absolute encoder evaluation, the validity of the initialized abso‐ lute position is checked during position initialization. If the controller detects that the position data reference of the encoder cannot be established any more due to changes of the mechanical system parameters or due to re‐ placement of encoder or device, the actual position value status ("S‑0‑0403, Position feedback value status") goes to "relative" and the error F2174 is generated.

Cause Remedy

Switching on without reference (in the case of initial commis‐ Clear error and reestablish position data reference. sioning or caused, for example, by changing parameters that characterize mechanical system or influence position evalu‐ ation). Switching on without reference (after replacing motor or mo‐ Clear error and establish position data reference. tor encoder) Motor encoder defective Replace motor or motor encoder, clear error and establish position data reference. Parameters of mechanical system changed (gear, feed con‐ Clear error and establish position data reference. stant, ...) Amplifier replaced without parameter update Clear error and establish position data reference Switching on without reference after replacement of device Clear error and establish position data reference with loaded axis-specific parameter values (according to list ‑ or ‑ from "S‑0‑0192, IDN-list of backup operation data"). Clear error, then load parameter values of "P‑0‑0195, IDN list of retain data (replacement of devices)", if it was possible to save them immediately before device was replaced. Check reestablished position data reference for correctness.

5.5.53 F2175 Loss of optional encoder reference Allocation Contained in 06VRS: «HDH»

In the case of absolute encoder evaluation, the validity of the initialized abso‐ lute position is checked during position initialization. If the controller detects that the position data reference of the encoder cannot be established any RE30159-WA Bosch Rexroth AG 103/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

more due to changes of the mechanical system parameters or due to re‐ placement of encoder or device, the actual position value status ("S‑0‑0403, Position feedback value status") goes to "relative" and the error F2175 is generated.

Cause Remedy

Switching on without reference (in the case of initial commis‐ Clear error and reestablish position data reference. sioning or caused, for example, by changing parameters that characterize mechanical system or influence position evalu‐ ation). Switching on without reference (after replacement of encod‐ Clear error and establish position data reference. er). Optional encoder defective. Replace encoder, clear error and establish position data ref‐ erence. Parameters of mechanical system changed (gear, feed con‐ Clear error and establish position data reference. stant, ...). Amplifier replaced without parameter update. Clear error and establish position data reference. Switching on without reference after replacement of device Clear error and establish position data reference with loaded axis-specific parameter values (according to list ‑ or ‑ from "S‑0‑0192, IDN-list of backup operation data"). Clear error, then load parameter values of "P‑0‑0195, IDN list of retain data (replacement of devices)", if it was possible to save them immediately before device was replaced. Check reestablished position data reference for correctness.

5.5.54 F2176 Loss of measuring encoder reference Allocation Contained in 06VRS: «HDH»

When the controller is switched on, it determines, in the case of absolute en‐ coder evaluation, the initial position of the measuring system (position initiali‐ zation) and checks its validity. If the controller detects that the position data reference of the encoder cannot be established any more due to changes of the mechanical system parameters or due to replacement of encoder or de‐ vice, the actual position value status ("S‑0‑0403, Position feedback value sta‐ tus") goes to "relative" and this diagnostic message is generated.

Cause Remedy

Switching on without reference (in the case of initial commis‐ Clear error and establish position data reference. sioning or caused, for example, by changing parameters that characterize mechanical system or influence position evalu‐ ation). Encoder defective Replace measuring encoder, clear error and establish posi‐ tion data reference. Switching on without reference (after replacement of meas‐ Clear error and establish position data reference. uring encoder). Controller replaced without parameter update. Clear error and establish position data reference.

5.5.55 F2177 Modulo limitation error of motor encoder Allocation Contained in 06VRS: «HDH» 104/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

With active modulo scaling the drive limits its actual position values to the val‐ ues parameterized in "S‑0‑0103, Modulo value", otherwise to the value para‐ meterized in "S‑0‑0278, Maximum travel range". As these values possibly cannot be exactly displayed, the corresponding recalculation of the systemat‐ ic errors in the case of position overflow takes place in the drive.

In the ideal case "S‑0‑0278, Maximum travel range" is set in such a way that the drive always is within the defined travel range and there is no overflow.

Cause Remedy

"S‑0‑0103, Modulo value" or "S‑0‑0278, Maximum travel Check and, if necessary, correct "S‑0‑0103, Modulo value" range" have been incorrectly parameterized and not adjus‐ or "S‑0‑0278, Maximum travel range". ted to the application. Drive was moved as rapidly that recalculation no longer Reduce drive velocity at position overflow. works correctly.

5.5.56 F2178 Modulo limitation error of optional encoder Allocation Contained in 06VRS: «HDH»

According to scaling, the drive limits the actual position values to the maxi‐ mum travel range or to the modulo value. As these values possibly cannot be exactly displayed the corresponding recalculation of the errors takes place in the drive.

Cause Remedy

Encoder speed was so high that recalculation no longer Reduce encoder speed works correctly. ‑ or – change "S‑0‑0103, Modulo value"

5.5.57 F2190 Incorrect Ethernet configuration Allocation Contained in 06VRS: «HDH»

The parameterization of the Ethernet communication interfaces is checked when the drive is initialized. An error was detected during this check. RE30159-WA Bosch Rexroth AG 105/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Unallowed configuration of parameters for Ethernet commu‐ Set parameters for Ethernet communication (TCP/IP) to val‐ nication (TCP/IP): id values: IP address and gateway address are not in the same IP net‐ ● P-0-1531, Engineering: IP address work ● P-0-1532, Engineering: Network mask ‑ or ‑ ● P-0-1533, Engineering: Gateway address IP address and gateway address are identical As of MPx05VRS, in addition: ● P-0-1641, CCD: IP address ● P-0-1642, CCD: Network mask ● P-0-1643, CCD: Gateway address ● S-0-1020, Master comm. engineering over IP: IP ad‐ dress ● S-0-1021, Master comm. engineering over IP: Network mask ● S-0-1022, Master comm. engineering over IP: Gate‐ way address As of MPx06VRS, in addition: ● P-0-4089.00.13, Master communication: IP address ● P-0-4089.0.14, Master communication: Network mask ● P-0-4089.00.15, Master communication: Gateway ad‐ dress Due to storage problems, internal configuration of IP stack Due to a hardware problem, it is necessary to replace con‐ was inadmissibly terminated trol section

Conditions under which this error is triggered: ● The wire break monitor was activated in "P‑0‑0218, Analog input, con‐ trol parameter" (by the setting for the measuring range of the analog in‐ puts) and ● a setting in "P‑0‑0218, Analog input, control parameter" causes an error to be generated when the input value has fallen below the input value at analog input 1 or 2 and ● the current/voltage value at analog input 1 or 2 is lower than the mini‐ mum value of the measuring range.

The value range of the voltage or current source that is connected to the analog input should be limited to the allowed value range of the analog input. 106/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Input value at analog input 1 or 2 is lower than minimum val‐ Check wiring of analog input, reestablish contact to voltage ue of voltage measuring range (setting "voltage signals" in source, if necessary "P‑0‑0218, Analog input, control parameter""). ‑ or – Check value range of voltage source. Input value at analog input 1 or 2 is lower than minimum val‐ Check wiring of analog input, reestablish contact to current ue of current measuring range (setting "current signals" in source, if necessary "P‑0‑0218, Analog input, control parameter"). ‑ or – Check value range of current source.

This error message can only be displayed at a controller contain‐ ing a CSB01.1N-FC-... (BASIC OPENLOOP) control section. 5.5.59 F2802 PLL is not synchronized Allocation Contained in 06VRS: «-»

Synchronization to the mains voltage is impossible.

Cause Remedy

At least one phase is missing Check and, if necessary, replace mains circuit breakers. Mains voltage is too low Measure mains voltage and compare it to allowed value range. Mains frequency is outside of specified range Measure mains frequency and compare it to allowed value range.

5.5.60 F2814 Undervoltage in mains Allocation Contained in 06VRS: «-»

The crest value of the mains voltage has fallen below the allowed minimum value (connection voltage range see documentation for HMV01.1).

Cause Remedy

Mains voltage below minimum value Use matching transformer See also Functional Description of firmware " Power Supply". 5.5.61 F2815 Overvoltage in mains Allocation Contained in 06VRS: «-»

Cause Remedy

Crest value of mains voltage has exceeded allowed maxi‐ Check mains voltage. If necessary, use matching transform‐ mum value (supply voltage range see documentation er "Rexroth IndraDrive Supply Units and Power Sections")

5.5.62 F2816 Softstart fault power supply unit Allocation Contained in 06VRS: «HDH»

The description of this diagnostic message is in preparation. RE30159-WA Bosch Rexroth AG 107/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

5.5.63 F2817 Overvoltage in power section Allocation Contained in 06VRS: «-»

When the warning E8025 is present for devices of the "HMV" type, the error "F2817 Overvoltage in power section" is generated after a certain length of time which depends on the hardware index of the device. From the hardware indices listed below upwards, the error F2817 is gener‐ ated 100 milliseconds after the warning E8025 has been present: ● HMV02.1R-W0015: From hardware index A09 upwards ● HMV01.1R-W0018: From hardware index A43 upwards ● HMV01.1R-W0045: From hardware index A43 upwards ● HMV01.1R-W0065: From hardware index A43 upwards ● HMV01.1R-W0120: From hardware index A02 upwards ● HMV01.1E-W0030: From hardware index A33 upwards ● HMV01.1E-W0075: From hardware index A34 upwards ● HMV01.1E-W0120: From hardware index A36 upwards For devices of the "HMV" type with smaller hardware indices, the error F2817 is generated 2 seconds after the warning E8025 has occurred. For supply units of the "HCS" type this error message does not exist.

From the mentioned hardware indices upwards, the error can only be reset by switching the device off, in order to call attention to possible application errors [e.g. "coasting" of a synchronous mo‐ tor at high speed (field weakening range) with a DC bus braking resistor value inadmissibly high for the motor].

Cause Remedy

See "E8025 Overvoltage in power section" See "E8025 Overvoltage in power section"

5.5.64 F2818 Phase failure Allocation Contained in 06VRS: «-»

A single-phase mains failure, which lasted for a longer time than the tolerated phase failure time, was detected for a supply unit of the HMV type.

Supply unit Tolerated phase failure time

HMV01.1E approx. 2 s HMV01.1R, HMV02.1R approx. 2 s

Fig.5-1: Tolerated phase failure times

Cause Remedy

No mains voltage available Check mains voltage and mains connection Mains circuit breaker defective Replace mains circuit breaker Incorrect wiring Check and correct wiring

5.5.65 F2819 Mains failure Allocation Contained in 06VRS: «HDH» 108/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

The mains has failed and the DC bus voltage has fallen below a threshold value. HMV Supply Units A mains failure, which lasted for a longer time than the tolerated mains failure time, was detected for a supply unit of the HMV type.

Supply unit Tolerated mains failure time

HMV01.1E approx. 750 ms HMV01.1R approx. 1000 ms HMV02.1R approx. 1000 ms

Fig.5-2: Tolerated mains failure times

If the mains failure occurs at regenerative supply units during a regeneration process to the supply mains, the supply unit switches off immediately.

Cause Remedy

Mains failure (permanent or temporary) Search and remove cause of mains failure Mains circuit breakers defective Replace mains circuit breakers

See also Functional Description of firmware Power Supply. 5.5.66 F2820 Braking resistor overload Allocation Contained in 06VRS: «HDH»

Power was switched off due to possible overload of the braking resistor. If the DC bus voltage exceeds the current switch-on threshold of the braking resistor ("P‑0‑0833, Braking resistor threshold") as a result of regenerative operation of the drive, the braking resistor is switched on to limit the DC bus voltage. The load of the braking resistor is displayed in "P‑0‑0844, Braking resistor load". When the load rises to 110%, error F2820 is displayed.

Error F2820 also indicates that no braking resistor has been con‐ nected or that the connected braking resistor is defective. A value of at least 110% is displayed in "P‑0‑0844, Braking resistor load", although in reality there isn't any load present or possible!

After having eliminated the cause of the error, check the braking resistor for operability! The error can only be cleared, when its cause has been removed.

Cause Remedy

Allowed deceleration of connected drives too high Reduce deceleration of connected drives Energy absorption capacity of braking resistor is exhausted Switch power supply off with a delay in the case of drive OFF or E-STOP (for regenerative supply units) or reduce ve‐ locity Regenerated energy in machining cycle is too high Increase cycle time or reduce maximum velocity RE30159-WA Bosch Rexroth AG 109/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy Continuous regenerative power and/or rotary drive energy is Reduce maximum velocity or check dimensioning of braking too high resistor and, if necessary, increase dimensioning Braking resistor is defective or has not been connected For external braking resistor, visually check wiring and resis‐ tor component. If necessary, correct wiring or replace brak‐ ing resistor. If internal braking resistor is defective, replace device. See also Functional Description of firmware "Power Supply" 5.5.67 F2821 Error in control of braking resistor Allocation Contained in 06VRS: «HDH»

The error can occur for devices of both the HCS and the HMV type. There are different causes and remedies for both device types!

Devices of HCS Type An error has occurred in the control of the external braking resistor.

Cause Remedy

Control of braking resistor has detected inadmissibly high Check braking resistor for correct resistance value. If neces‐ current sary, use braking resistor with higher resistance value Terminal connectors for external braking resistor have been Remove short circuit, connect braking resistor correctly, if short-circuited necessary

Devices of HMV Type An error has occurred in the control of the internal braking resistor.

Cause Remedy

Device is defective Replace device

5.5.68 F2833 Ground fault in motor line Allocation Contained in 06VRS: «-»

During the loading process of the DC bus a ground fault was detected in the motor line of one of the connected converters/inverters.

Cause Remedy

Ground fault in a motor line within drive system Take controllers of drive system successively out of device ‑ or – group on control voltage and power voltage side, until error no longer occurs. By doing this identify faulty drive. Ground fault in a controller of drive system Check insulation of motor cable with measuring device. If motor cable is not defective, there is a device or connection error.

5.5.69 F2834 Contactor control error Allocation Contained in 06VRS: «-»

The mains contactor couldn't be switched on or dropped out during operation. 110/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Due to wiring or control error, contact "ZKS" ["DC bus short Check control. "Netz EIN" ("mains ON") has to be opened si‐ circuit"] (X32.8) or contact "Netz AUS" ["mains OFF"] (X32.6/ multaneously with or before "ZKS" ("DC bus short circuit") X32.7) was opened while contact "Netz EIN" ["mains ON"] and N"etz AUS" ("mains OFF"). (X32.4/X32.5) still had been close. Mains contactor could not be switched Check wiring of interface. Check voltages at interfaces X32, X14 (HMV0x.xR) or at L1, L2 and L3 (HMV0x.xE). Contactor control has detected an error Replace device

5.5.70 F2835 Mains contactor wiring error Allocation Contained in 06VRS: «-»

For supply units of the HMV01 line which do not have an internal mains con‐ tactor, an external mains contactor has to be controlled via X34.

Cause Remedy

No external mains contactor connected Connect mains contactor No external switching voltage for mains contactor connected Check mains contactor wiring External mains contactor defective Replace mains contactor Pick-up delay of selected mains contactor too long Use mains contactor with less pick-up delay See also documentation "Rexroth IndraDrive Supply Units and Power Sec‐ tions" 5.5.71 F2836 DC bus balancing monitor error Allocation Contained in 06VRS: «HDH»

Unbalance on the DC bus was detected for the supply unit / converter.

Cause Remedy

Unbalance on the DC bus Switch device off/on; if error continues occurring, replace de‐ vice

5.5.72 F2837 Contactor monitoring error Allocation Contained in 06VRS: «-»

The contactor monitor in the contactor control has detected an error.

When the diagnostic message occurs at a supply unit with exter‐ nal mains contactor (e.g. HMV01.1R-W0120), it is impossible to reset the error via the control panel, if the cause of the message is a sticking contact of the mains contactor or the conversion re‐ lay. In this case, you have to switch the 24V supply off and on again after the cause of the error was removed. RE30159-WA Bosch Rexroth AG 111/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy

Mains contactor could not be switched Check voltages ● at interface X32, ● at X14 (HMV01.1R, HMV02.1R) or at L1-L3 (HMV01.1E) Contactor monitor has detected an error Replace device

5.5.73 F2840 Error supply shutdown Allocation Contained in 06VRS: «-»

A component in the drive system demands the shutdown of power supply. The supply unit switches power off and signals F2840.

The supply units (as of listed HWIs) generate the diagnostic mes‐ sage in the status "Bb", too. Prevent the activation of the mains contactor by means of the Bb1 contact (see "Control Circuits for the Mains Connection" in the Project Planning Manual of the drive system and "Connection Point X31" in the Project Planning Man‐ ual of HMV supply units).

Supply unit Hardware index (HWI) (as per prototype phase MPx05)

HMV01.1E-W0030 A36 HMV01.1E-W0075 A37 HMV01.1E-W0120 A40 HMV01.1R-W0018 A48 HMV01.1R-W0045 A49 HMV01.1R-W0065 A50 HMV01.1R-W0120 A09 HMV02.1R-W0015 A14

Cause Remedy

A second supply unit connected in parallel, a DC bus resis‐ Remove cause of error at respective supply unit, DC bus re‐ tor unit or an inverter/converter signals an error in supply sistor unit or inverter/converter; then clear error

5.5.74 F2860 Overcurrent in mains-side power section Allocation Contained in 06VRS: «-»

For HMV01.1R The current in the mains-side power bridge has exceeded the maximum al‐ lowed value. The power supply is switched off.

Cause Remedy

Mains choke incorrectly connected Check mains choke Mains choke missing or incorrectly projected Check mains choke 112/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Error Messages

Cause Remedy Mains filter missing or incorrectly projected Check mains filter Device defective Replace device

5.5.75 F2890 Invalid device code Allocation Contained in 06VRS: «-»

Cause Remedy

Device defective Replace device

5.5.76 F2891 Incorrect interrupt timing Allocation Contained in 06VRS: «-»

Cause Remedy

Device defective Replace device

5.5.77 F2892 Hardware variant not supported Allocation Contained in 06VRS: «-»

Cause Remedy

Device defective Replace device RE30159-WA Bosch Rexroth AG 113/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx) 6 Warnings (Exxxx) 6.1 Fatal Warnings (E8xxx) 6.1.1 E8025 Overvoltage in power section Allocation Contained in 06VRS: «HDH»

The DC bus voltage is monitored. When the allowed maximum value (870 V) is exceeded, the fatal warning E8025 is generated. The controller switches the motor to torque-free state in the case of overvolt‐ age. If the DC bus voltage falls below the allowed maximum value again, the motor is switched on again.

Cause Remedy

Energy regenerated to DC bus by mechanical machine sys‐ Reduce regenerative power by lower acceleration values tem during braking process was so high that supply unit – or – couldn't dissipate it during regeneration time. This caused DC bus voltage to rise to inadmissible value Correct dimensioning of drive – or – Sufficiently dimension supply unit as regards braking energy requirements; if necessary, use additional braking resistor if existing braking resistor has been under-dimensioned Mains supply voltage (alternating input voltage) too high Check mains supply voltage (alternating voltage/3‑phase) No braking resistor connected or connection or cable defec‐ Connect braking resistor or check connection tive F8xxx error at high speed (field weakening range) of a syn‐ Check whether braking resistance value in DC bus exceeds chronous motor maximum value allowed for motor; if necessary, reduce braking resistance value to or below allowed value

Only for HMV: When the warning E8025 is present, the error "F2817 Overvoltage in power section" is generated after a certain length of time which depends on the hardware index of the de‐ vice. From the hardware indices listed below upwards, the error F2817 is generated 100 milliseconds after the warning E8025 has been present: ● HMV02.1R-W0015: From hardware index A09 upwards ● HMV01.1R-W0018: From hardware index A43 upwards ● HMV01.1R-W0045: From hardware index A43 upwards ● HMV01.1R-W0065: From hardware index A43 upwards ● HMV01.1R-W0120: From hardware index A02 upwards ● HMV01.1E-W0030: From hardware index A33 upwards ● HMV01.1E-W0075: From hardware index A34 upwards ● HMV01.1E-W0120: From hardware index A36 upwards For devices of the "HMV" type with smaller hardware indices, the error F2817 is generated 2 seconds after the warning E8025 has occurred. 114/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

6.1.2 E8026 Undervoltage in power section Allocation Contained in 06VRS: «HDH»

In the case of fatal warning E8026, the motive torque is locked. The control unit still can actively decelerate the drive, but no lon‐ ger accelerate it. Supply Units HMV, Identifier "FCN1" or "FNN1" This diagnostic message is only displayed for HMV supply units which have the identifier "FCN1" or "FNN1" at the position "Other design" in the type code.

If the DC bus voltage falls below 75% of the mains voltage crest value that was detected when the mains contactor had been switched on, "error DC bus voltage, mains failure" is signaled via the module bus and E8026 is displayed at the device. Power is switched off! According to the situation in the mains, the diagnostic message is only dis‐ played for a short time.

Cause Remedy

Power is switched off without previous drive deactivation by Check logic for activating drive in connected control unit means of drive enable ("AF") Malfunction or overload of power supply Check power supply Mains failure Check cause of mains failure, switch mains voltage on again Temporary supply unit overload Reduce processing cycle of machine See also Functional Description of firmware "Power Supply" 6.1.3 E8029 Positive position limit exceeded Allocation Contained in 06VRS: «HDH»

The drive provides a function for monitoring an allowed travel range by means of software limit switches that can be parameterized.

The travel range monitor has to be activated and parameterized via "S‑0‑0049, Positive position limit value", "S‑0‑0050, Negative position limit value" and "S‑0‑0055, Position polarities". The drive reaction (fatal warning or error) in case the travel range is exceeded has to be parameterized in "P‑0‑0090, Travel range limit parameter". RE30159-WA Bosch Rexroth AG 115/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Cause Remedy

A command value was set for the drive that causes an axis Set command value that leads back to the allowed travel position outside the positive travel range/position limit value range. Contact machine manufacturer in order to find out cause of incorrect command value Positive travel range/position limit value incorrectly parame‐ Check and, if necessary, correct parameterization of terized "S‑0‑0049, Positive position limit value"

The "S‑0‑0057, Position window" parameter is used to realize a hysteresis function for evaluating the position limit values.

See also Functional Description of firmware "Position Limitation/Travel Range Limit Switch" 6.1.4 E8030 Negative position limit exceeded Allocation Contained in 06VRS: «HDH»

The drive provides a function for monitoring an allowed travel range by means of software limit switches that can be parameterized.

The travel range monitor has to be activated and parameterized via "S‑0‑0049, Positive position limit value", "S‑0‑0050, Negative position limit value" and "S‑0‑0055, Position polarities". The drive reaction (fatal warning or error) in case the travel range is exceeded has to be parameterized in "P‑0‑0090, Travel range limit parameter".

Cause Remedy

A command value was set for the drive that causes an axis Set command value that leads back to the allowed travel position outside the negative travel range/position limit value range.Contact machine manufacturer in order to find out cause of incorrect command value Positive travel range/position limit value incorrectly parame‐ Check and, if necessary, correct parameterization of terized "S‑0‑0050, Negative position limit value"

The "S‑0‑0057, Position window" parameter is used to realize a hysteresis function for evaluating the position limit values.

See also Functional Description of firmware "Position Limitation/Travel Range Limit Switch" 6.1.5 E8034 Emergency-Stop activated Allocation Contained in 06VRS: «HDH»

The drive provides a function for monitoring an E-Stop input (connection of an external hardware switch). This monitor has to be activated and parame‐ terized via "P‑0‑0008, Activation E-Stop function".

When the warning E8034 occurs, the axis is decelerated in ac‐ cordance with the configured "best possible deceleration" (P‑0‑0119, bit0 to 3) for switching off drive enable. 116/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Cause Remedy

E-Stop input was controlled (0 V at digital input) Remove failure that caused E-Stop to be triggered and clari‐ fy cause of triggering Incorrect parameterization of digital inputs and outputs on Check configuration of digital inputs/outputs on control sec‐ control section tion and correct it, if necessary E-Stop switch or cable connection defective or incorrectly Check function and wiring of E-Stop switch wired Control section or digital inputs on control section defective Replace control section or entire drive controller

See also Functional Description of firmware "E-Stop Function" See also Functional Description of firmware "Digital Inputs/Outputs" See also Functional Description of firmware "Velocity Command Value Reset" 6.1.6 E8035 Quick stop with probe detection is active Allocation Contained in 06VRS: «HDH»

Cause Remedy

Quick stop in the case of positive edge at probe 1 has been Quick stop is deactivated by locking probe enable activated. Positive edge was detected at probe 1; drive is ("S‑0‑0405, Probe 1 enable" = "0") or by deactivating probe shut down with velocity command value reset function ("S‑0‑0170, Probing cycle procedure com‐ mand" = "0" or "P‑0‑0226, Probe, extended control word", bit 9 equal "0")

6.1.7 E8040 Torque/force actual value limit active Allocation Contained in 06VRS: «HDH»

The warning E8040 is generated when the "stall protection loop" takes effect and changes the working point of the machine for its relief.

Cause Remedy

Load torque is too high Reduce load torque Torque limit values incorrectly parameterized Check parameters "S‑0‑0082, Torque/force limit value posi‐ tive"; "S‑0‑0083, Torque/force limit value negative"; "S‑0‑0092, Bipolar torque/force limit value" and "P‑0‑0109, Torque/force peak limit" and increase limits, if necessary See also Functional Description of firmware "Voltage-Controlled Operation" 6.1.8 E8042 Both travel range limit switches activated Allocation Contained in 06VRS: «HDH»

The compliance with the allowed travel range of linear axes is monitored on the hardware side via two travel range limit switches. When the travel range has been exceeded, one of the two limit switches is activated, if the limit switches were correctly mounted. RE30159-WA Bosch Rexroth AG 117/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

The warning E8042 is generated, if ● the controller detects that both travel range limit switches have been si‐ multaneously activated and ● exceeding the travel range is handled as a fatal warning (setting in "P‑0‑0090, Travel range limit parameter").

As long as the cause of E8042 has not been removed, the con‐ troller does not accept any command value!

Cause Remedy

Due to incorrect mounting, axis activates both travel range Mount travel range limit switches in such a way that they are limit switches simultaneously activated shortly before axis end position is reached. Make sure the braking distance is sufficient Travel range limit switches were incorrectly connected Connect travel range limit switches correctly; check compli‐ ance with switching logic set in "P‑0‑0090, Travel range limit parameter" Switching logic of travel range limit switches does not corre‐ Check switching logic with regard to realized wiring, adjust it spond to realized wiring in "P‑0‑0090, Travel range limit parameter", if necessary

6.1.9 E8043 Positive travel range limit switch activated Allocation Contained in 06VRS: «HDH»

The drive provides a function for monitoring travel range limit switches (exter‐ nal hardware limit switches). This monitor has to be activated and parameter‐ ized via "P‑0‑0090, Travel range limit parameter".

When the warning E8043 occurs, the axis is shut down with ve‐ locity command value reset.

Cause Remedy

Travel range limit switch situated in positive direction (see Set drive enable and input a command value leading back to Project Planning Manual for motor) was activated because allowed travel range axis is outside of travel range that was defined by means of travel range limit switches Incorrect parameterization of digital inputs and outputs on Correct configuration of digital inputs/outputs on control sec‐ control section tion and correct it, if necessary Travel range limit switch or cable is defective or incorrectly Check function and wiring of travel range limit switch wired Control section or digital inputs on control section defective Replace control section or entire drive controller

See also Functional Description of firmware "Travel Range Limits" See also Functional Description of firmware "Digital Inputs/Outputs" 118/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

6.1.10 E8044 Negative travel range limit switch activated Allocation Contained in 06VRS: «HDH»

When the warning E8044 occurs, the axis is shut down with ve‐ locity command value reset.

Cause Remedy

Travel range limit switch situated in negative direction (see Set drive enable and input a command value leading back to Project Planning Manual for motor) was activated because allowed travel range axis is outside of travel range that was defined by means of travel range limit switches Incorrect parameterization of digital inputs and outputs on Correct configuration of digital inputs/outputs on control sec‐ control section tion and correct it, if necessary Travel range limit switch or cable is defective or incorrectly Check function and wiring of travel range limit switch wired Control section or digital inputs on control section defective Replace control section or entire drive controller

See also Functional Description of firmware "Travel Range Limits" See also Functional Description of firmware "Digital Inputs/Outputs" 6.1.11 E8055 Motor overload, current limit active Allocation Contained in 06VRS: «HDH»

In order to protect the motors against thermal destruction in the case of peak loads occurring for a very short time, the thermal work load of the motor is continuously calculated in the controller by means of a motor temperature model. If the maximum possible motor current is reduced, due to the current thermal motor load, compared to the content of "S‑0‑0109, Motor peak current", the drive generated the warning E8055. As a consequence thereof the drive can no longer follow the command values preset by a control unit.

When the E8055 warning is active, bit 0 (overload warning) is ad‐ ditionally set in "S‑0‑0012, Class 2 diagnostics".

Cause Remedy

Too high acceleration torque/too high acceleration force de‐ Reduce acceleration by adjusted command value profile manded Overload of drive by too high continuous load Reduce overload in the case of long machining phases RE30159-WA Bosch Rexroth AG 119/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Cause Remedy Too high process or machining force (e.g. infeed) Reduce process or machining force Mechanical changes in axis (e.g. friction, load conditions,...) Check mechanical system and, if necessary, optimize load conditions and/or friction conditions See also Functional Description of firmware "Current Limitation 6.1.12 E8057 Device overload, current limit active Allocation Contained in 06VRS: «HDH»

In order to protect the devices against thermal destruction, the thermal load of the output stage in devices with digital current control is continuously cal‐ culated by a temperature model, depending on the measured current. For HCS, HMS, HMD If the thermal load exceeds 97% (displayed in "P‑0‑0141, Thermal drive load"), the continuous current limitation is activated and the warning E8057 is generated. As a consequence thereof the drive can no longer follow the com‐ mand values preset by a control unit.

When the E8057 warning is active, bit 0 (overload warning) is ad‐ ditionally set in "S‑0‑0012, Class 2 diagnostics". For HMV01.1R When the thermal load has reached 100%, the continuous current limitation is activated and the warning E8057 is generated. As a consequence thereof the available DC bus power is reduced and especially drives that require high power can no longer follow the preset command values.

Cause Remedy

Device is not adjusted to requirements of application or mo‐ Check dimensioning of drive and, if necessary, use more tor powerful device Too high acceleration torque/too high acceleration force de‐ Reduce acceleration by adjusted command value profile manded Overload of drive by too high continuous load Reduce overload in the case of long machining phases Too high process or machining force (e.g. infeed) Reduce process or machining force Mechanical changes in axis (e.g. friction, load conditions,...) Check mechanical system and, if necessary, optimize load conditions and/or friction conditions See also Functional Description of firmware "Current Limitation" 6.1.13 E8260 Torque/force command value limit active Allocation Contained in 06VRS: «HDH»

Apart from the dynamic actual torque/force value limitation by means of a motor or amplifier temperature model, there are voltage-dependent (velocity- dependent), as well as parameterizable limitations of the torque/force com‐ mand value. At least one of these limits has been reached.

As regards the occurrence of the warning E8260, there are differ‐ ent causes and remedies for "closed-loop operation" / "controlled motor operation" (FOC, FOCsl, FXC) and sensorless, voltage- controlled motor operation ("U/f-controlled motor opera‐ tion" / "open-loop operation")! 120/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Cause Remedy

"Controlled motor operation" / "closed-loop operation" Reduce preset maximum acceleration value to allow drive to Acceleration capacity of drive has been exceeded. In ope‐ follow position or velocity command value characteristic rating modes "position control" and "velocity control", this means that there is an ever-increasing position deviation (lag error) between command value and actual value "Controlled motor operation" / "closed-loop operation" Reduce maximum velocity command value in such a way Velocity command value is higher than maximum velocity of that values of P-0-0535 or P-0-0536 are not reached when drive. Drive limits output value of velocity loop (torque com‐ accelerating or at maximum velocity. mand value) so that output voltage of controller, depending If possible, use controlled supply unit (HMV-R); with uncon‐ on load, does not exceed value of "P‑0‑0535, Motor voltage trolled supply unit increase supply voltage, if necessary at no load" or "P‑0‑0536, Maximum motor voltage" "Controlled motor operation" / "closed-loop operation" Increase values of "S‑0‑0082, Torque/force limit value posi‐ Torque/force limit values incorrectly set tive", "S‑0‑0083, Torque/force limit value negative", "S‑0‑0092, Bipolar torque/force limit value" and "P‑0‑0109, Torque/force peak limit", if necessary "Controlled motor operation" / "closed-loop operation" Check contents of "S‑0‑0106, Current loop proportional gain Current loop incorrectly parameterized for motors without 1" and "S‑0‑0107, Current loop integral action time 1" and feedback data memory (e.g. kit motors or third-party motors) correct them, if necessary. See also Functional Description of firmware "Automatic Set‐ ting of Motor Control " "Controlled motor operation (FXC)" Reduce current at standstill ("P‑0‑0532, Premagnetization Controller cannot permanently provide required current at factor" * "P‑0‑4004, Magnetizing current") by lower value of standstill of asynchronous motor P‑0‑0532 ‑ or ‑ Use controller with higher continuous current (type current) "Open-loop operation" / "U/f-controlled motor operation" Maximum change of velocity with which drive can follow Acceleration capacity of controlled drive has been exceeded command values is determined by motor. This possibly re‐ (velocity command value ramp too steep) quires adjustment of "P‑0‑0569, Maximum stator frequency change"

6.1.14 E8802 PLL is not synchronized Allocation Contained in 06VRS: «-»

This diagnostic message is only displayed for HMV supply units which have the identifier "FCN1" or "FNN1" at the position "Other design" in the type code.

Synchronization with the mains voltage is impossible. "Error DC bus voltage, mains failure" is signaled via the module bus and E8802 displayed at the device. Power is switched off! According to the situation in the mains, the diagnostic message is only dis‐ played for a short time. RE30159-WA Bosch Rexroth AG 121/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Cause Remedy

At least one phase is missing Check mains circuit breakers and replace them, if necessary Mains voltage is too low Measure mains voltage and compare it to allowed range of values Mains frequency is outside of specified range Measure mains frequency and compare it to allowed range of values See also documentation "Rexroth IndraDrive Supply Units and Power Sec‐ tions" 6.1.15 E8814 Undervoltage in mains Allocation Contained in 06VRS: «-»

This diagnostic message is only displayed for HMV supply units which have the identifier "FCN1" or "FNN1" at the position "Other design" in the type code.

"Error DC bus voltage, mains failure" is signaled via the module bus and E8814 displayed at the device. Power is switched off! According to the situation in the mains, the diagnostic message is only dis‐ played for a short time.

Cause Remedy

Crest value of mains voltage has fallen below allowed mini‐ Use matching transformer mum value (supply voltage range see documentation "Rexroth IndraDrive Supply Units and Power Sections") See also Functional Description of firmware "Power Supply" 6.1.16 E8815 Overvoltage in mains Allocation Contained in 06VRS: «-»

This diagnostic message is only displayed for HMV supply units which have the identifier "FCN1" or "FNN1" at the position "Other design" in the type code.

"Error DC bus voltage, mains failure" is signaled via the module bus and E8815 displayed at the device. Power is switched off! According to the situation in the mains, the diagnostic message is only dis‐ played for a short time.

Cause Remedy

6.1.17 E8818 Phase failure Allocation Contained in 06VRS: «-»

This diagnostic message is only displayed for HMV supply units which have the identifier "FCN1" or "FNN1" at the position "Other design" in the type code. 122/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

A single-phase mains failure, which lasted longer than the tolerated phase failure time, was detected for a supply unit of the HMV type. "Error DC bus voltage, mains failure" is signaled via the module bus and E8818 displayed at the device. Power is switched off! According to the situation in the mains, the diagnostic message is only dis‐ played for a short time.

Supply unit Tolerated phase failure time

HMV01.1E Approx. 2s HMV01.1R, HMV02.1R Approx. 2s

Fig.6-1: Tolerated Phase Failure Times

Cause Remedy

No mains voltage available Check mains voltage and mains connection Mains circuit breaker defective Replace mains circuit breaker Incorrect wiring Check and correct wiring

6.1.18 E8819 Mains failure Allocation Contained in 06VRS: «HDH»

Drive Controllers HMS, HCS Mains failure was detected. To maintain the DC bus, regenerative operation of the motor is still possible, motive operation of the motor is disabled. The function depends on "P‑0‑0118, Power supply, configuration" (behavior in case of undervoltage in DC bus).

Cause Remedy

Supply Units HMV, Identifier "FCN1" or "FNN1" This diagnostic message is only displayed for HMV supply units which have the identifier "FCN1" or "FNN1" at the position "Other design" in the type code.

A mains failure lasting longer than the tolerated mains failure time was detec‐ ted for a supply unit of type HMV. "Error DC bus voltage, mains failure" is signaled via the module bus and E8819 displayed at the device. Power is switched off! Sometimes, the diagnostic message is displayed only briefly, depending on the situation in the power supply network.

Supply unit Tolerated mains failure time

HMV01.1E Approx. 750 ms HMV01.1R Approx. 1000 ms HMV02.1R Approx. 1000 ms

Fig.6-2: Tolerated Mains Failure Times RE30159-WA Bosch Rexroth AG 123/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

If the mains failure occurs at regenerative supply units during a regeneration process to the supply mains, the supply unit switches off immediately.

Cause Remedy

Mains failure (permanent or temporary) Search and remove cause of mains failure Mains circuit breakers defective Replace mains circuit breakers

See also Functional Description of firmware "Power Supply" 6.2 Warnings of Category (E4xxx) 6.2.1 E4001 Double MST failure shutdown Allocation Contained in 06VRS: «HDH»

The master synchronization telegram (MST) was not received in the drive in two successive SERCOS cycles.

As of MPx05VRS: In "P-0-4088, Master communication: Drive configuration", you can configure the reaction to the failure of cy‐ clic communication as a warning or as an error.

Cause Remedy

Disturbance in fiber optic transmission line Check all fiber optic cable connections in SERCOS ring and replace them, if necessary Attenuation of light signals too high Measure attenuation of fiber optic cables again.

The maximum attenuation between TX and RX mustn't ex‐ ceed 12.5 dB! Disturbance in SERCOS interface (general) Replace control section or entire drive

See also Functional Description of firmware "Interface Errors and Diagnostic Possibilities" 6.2.2 E4002 Double MDT failure shutdown Allocation Contained in 06VRS: «HDH»

The master data telegram (MDT) was not received in the drive in two succes‐ sive SERCOS or field bus cycles.

As of MPx05VRS: In "P-0-4088, Master communication, configu‐ ration", you can configure the reaction to the failure of the cyclic communication as a warning or as an error. 124/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Cause Remedy

Bus master does not send any more cyclic telegrams to Switch master on and start cyclic communication; see manual for the drive. These, however, are expected in communica‐ control unit tion phase 4. Fiber optic cable bus: Disturbance in fiber optic trans‐ Check all fiber optic cable connections in SERCOS ring mission line Fiber optic cable bus: Input power of light signals too Adjust transmitting power or check attenuation of fiber optic cable low Maximum attenuation between TX and RX mustn't exceed Light power to be measured at receiver (with test 12.5 dB! mode: continuous light) must be between –20 dBm (10 µW) and –5 dBm (320 µW) Different transmission times of master data telegrams Synchronize transmission times of master data telegrams in mas‐ in master and slave ter and slave Disturbance in SERCOS interface (general) Replace control section or entire drive controller

See also Functional Description of firmware "Interface Errors and Diagnostic Possibilities" 6.2.3 E4005 No command value input via master communication Allocation Contained in 06VRS: «HDH»

In firmware version 04VRS, the name of the warning was "E4005 No data exchange possible via the field bus".

There is no command value input via the master communication interface.

SERCOS The setting in parameter "P-0-4088, Master communication, configuration" is such that there won't be any drive error reaction initiated in case communica‐ tion fails, but this warning will be displayed.

Cause Remedy See F4009 See F4009

Other Field Buses (CANopen, In "P-0‑4088, Master communication, configuration", bus failure was config‐ PROFIBUS, ...) ured as a warning. RE30159-WA Bosch Rexroth AG 125/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Warning E4005 is generated in the following cases: ● No telegram with command values was received within the monitoring time stored in P-0-4075. ‑ or ‑ ● The control unit was switched to "Stop". ‑ or ‑ ● The control unit took the drive out of the master communication group.

Cause Remedy See F4009 See F4009

6.2.4 E4007 SERCOS III: Consumer connection failed Allocation Contained in 06VRS: «HDH»

A consumer connection violates the selected monitoring criterion.

Cause Remedy

Synchronous monitoring has been preset for a consumer Producer of connection (can be bus master or another connection and NewData bit of connection does not toggle slave) does not work correctly in preset cycle Too many telegrams fail due to disturbances Check bus line and connector

6.2.5 E4008 Invalid addressing command value data container A Allocation Contained in 06VRS: «HDH»

During the index check in the multiplex channel an error occurred. During the cyclic data exchange the index for access to the lists Data container A: con‐ figuration list command value-x is monitored to find out whether it is pointing to a non-initialized position in the list.

Cause Remedy

? Check Data container A: configuration list command value-x ? Check low byte of "S‑0‑0368, Data container A: addressing" See also Functional Description of firmware "Multiplex Channel" 6.2.6 E4009 Invalid addressing actual value data container A Allocation Contained in 06VRS: «HDH»

During the index check in the multiplex channel an error occurred. During the cyclic data exchange the index for access to the lists Data container A: con‐ figuration list actual value-x is monitored to find out whether it is pointing to a non-initialized position in the list.

Cause Remedy

? Check Data container A: configuration list actual value-x ? Check high byte of "S‑0‑0368, Data container A: addressing" See also Functional Description of firmware "Multiplex Channel" 126/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

6.2.7 E4010 Slave not scanned or address 0 Allocation Contained in 06VRS: «HDH»

During the initialization of the SERCOS ring in communication phase 1, the SERCOS master must address each slave which is to participate in the pro‐ gression to higher phases. Slaves which are not addressed or for which drive address 0 has been set diagnose this by the warning E4010. Communication with these slaves in higher communication phases is impossible; they only work in repeater mode.

Cause Remedy

Slave was not scanned in phase 1 or address 0 has Set correct slave address been set Slave deactivated by control unit Check SERCOS master configuration See also Functional Description of firmware "SERCOS interface" 6.2.8 E4011 Communication watchdog: Overload of cyclic communication Allocation Contained in 06VRS: «HDH»

Cause Remedy

MultiEthernet interface is overloaded; I/O data of cyclic com‐ Please contact our service department munication cannot be transmitted to drive

6.3 Non-fatal Warnings (E2xxx) 6.3.1 E2010 Position control with encoder 2 not possible Allocation Contained in 06VRS: «HDH»

For operating modes using parameter "S‑0‑0520, Control word of axis con‐ troller" it is possible to switch the control encoder during operation. If no second encoder has been defined as control encoder, this warning is generated when you try to switch to encoder 2. 6.3.2 E2021 Motor temperature outside of measuring range Allocation Contained in 06VRS: «HDH»

The lower limit of the allowed ambient temperature range of Rexroth motors is 0°C. In the case of very low temperatures (below –20°C), motor encoders risk failing, shaft bearings and housings risk getting damaged. Motors MSK, MAD, MAF The temperature sensors installed in the motor windings of Rexroth motors of the MSK, MAD and MAF lines allow measuring temperatures below the al‐ lowed temperature range. When the motor temperature has fallen below – 20°C, the warning E2021 is output. Motors MHD, MKD, 2AD, ADF, The temperature sensors installed in the motor windings of Rexroth motors of 1MB, MLF, LSF the MHD, MKD, 2AD, ADF, 1MB, MLF and LSF lines cannot measure tem‐ peratures below the allowed temperature range. Therefore, the warning can‐ not be generated in this case! RE30159-WA Bosch Rexroth AG 127/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Cause Remedy

Motor temperature measured by temperature sensor is be‐ Warning disappears automatically when motor is heated up low –20°C to more than –20°C by load or higher ambient temperature Sensor defective Check wiring and hardware, above all for loose contact and, ‑ or ‑ if necessary, for malfunction Cable break ‑ or ‑ Electronic monitoring system in controller defective See also Functional Description of firmware "Motor Temperature Monitoring" 6.3.3 E2026 Undervoltage in power section Allocation Contained in 06VRS: «HDH»

When drive enable is set without DC bus voltage (drive signals "bb"), the error message F2026 is generated in spite of warning having been parameterized. Supply Unit HMV01.1R / If the DC bus voltage falls below the threshold value determined for the re‐ HMV02.1R spective supply unit (see table below), the warning E2026 is displayed at the device and "DC bus not ok" is signaled via the module bus. The circuit is not interrupted yet!

Supply unit Hardware index (see type plate) Threshold value

HMV01.1R-W0018 Up to A38 DC 670 V From A39 upwards DC 600 V HMV01.1R-W0045 Up to A39 DC 670 V From A40 upwards DC 600 V HMV01.1R-W0060 Up to A39 DC 670 V From A40 upwards DC 600 V HMV01.1R-W0120 From A00 upwards DC 600 V

Fig.6-3: Threshold Values for Undervoltage in DC Bus

Cause Remedy

Power is switched off without previous drive deactivation by Check logic for activating drive in connected control unit means of drive enable ("AF") Malfunction or overload of power supply Check power supply Mains failure Check cause of mains failure, switch mains voltage on again See also Functional Description of firmware "Power Supply" 128/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

6.3.4 E2047 Interpolation velocity = 0 Allocation Contained in 06VRS: «-»

In operating states/ operating modes in which the drive-internal position com‐ mand value interpolator is active, the preset velocity effective in the drive is monitored with regard to the value "0"; i.e. the monitor is active in the follow‐ ing operating modes or operating states: Operating Modes ● drive-internal interpolation ● drive-controlled positioning ● positioning block mode ● Drive Halt Commands ● position spindle ● drive-controlled homing ● automatic control loop setting ● ...

Cause Remedy

Incorrect velocity is preset (value = "0") Check parameterization or cyclic command value of control (cf. "S‑0‑0259, Positioning velocity", "S‑0‑0041, Homing ve‐ unit and set value for preset velocity unequal zero locity", "P‑0‑4007, Positioning block velocity"[i], "S‑0‑0222, Spindle positioning speed", "S‑0‑0091, Bipolar velocity limit value", "P‑0‑0143, Synchronization velocity", "P‑0‑0686, Ad‐ ditive position command value, positioning velocity") Analog input to which preset velocity was assigned is defec‐ Check wiring and function of analog input and, if necessary, tive or not connected replace cable or control section, or the entire drive controller

In operating states/ operating modes in which the drive-internal position com‐ mand value interpolator is active, the preset acceleration effective in the drive is monitored with regard to the value "0" [without acceleration (deceleration) a preset velocity can never be reached; slowing down with a deceleration "0" isn't possible either].

The input values of the parameters are converted to a drive-inter‐ nal format. This is why input values > "0" can, internally, also cause an acceleration = "0". The parameter values which drive-in‐ ternally still cause an acceleration > "0" can be calculated.

The monitor is active in the following operating modes or operating states: Operating Modes ● drive-internal interpolation ● drive-controlled positioning ● positioning block mode ● Drive Halt RE30159-WA Bosch Rexroth AG 129/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Commands ● position spindle ● drive-controlled homing ● automatic control loop setting ● ...

Cause Remedy

Incorrect acceleration is preset (value = "0") Check parameterization or cyclic command value of control (vgl. "S‑0‑0260, Positioning acceleration", "S‑0‑0042, Hom‐ unit and set value for preset acceleration > "0" ing acceleration", "S‑0‑0138, Bipolar acceleration limit val‐ ue", "S‑0‑0359, Positioning deceleration", "P‑0‑0142, Syn‐ chronization acceleration", "P‑0‑0687, Additive position com‐ mand value, positioning acceleration")

6.3.6 E2049 Positioning velocity >= limit value Allocation Contained in 06VRS: «HDH»

In the operation modes in which the drive-internal position command value in‐ terpolator is active, the velocity command value (positioning velocity) effec‐ tive in the drive is limited to the smallest parameterized velocity limit value. This means that the monitor is active in the following operation modes or operating states: Operation Modes ● Drive-internal interpolation ● Drive-controlled positioning ● Positioning block mode Commands ● Position spindle ● Drive-controlled homing procedure ● Automatic control loop setting ● ...

Cause Remedy

Incorrect velocity has been preset (parameterized or cycli‐ Check parameterization or cyclic command value of control cally preset value is too high) (cf. "S‑0‑0259, Positioning unit and set value for used preset velocity smaller than value velocity", "S‑0‑0041, Homing velocity", "P‑0‑4007, from "S‑0‑0091, Bipolar velocity limit value", "S‑0‑0038, Positioning block velocity" [i], "S‑0‑0222, Spindle positioning Positive velocity limit value" or "S‑0‑0039, Negative velocity speed", "S‑0‑0091, Bipolar velocity limit value", "S‑0‑0038, limit value" Positive velocity limit value", "S‑0‑0039, Negative velocity Note: Specified velocity is also affected by S‑0‑0108; check limit value") S‑0‑0108. "S‑0‑0091, Bipolar velocity limit value", "S‑0‑0038, Positive Check parameter contents of "S‑0‑0091, Bipolar velocity velocity limit value" or "S‑0‑0039, Negative velocity limit limit value", "S‑0‑0038, Positive velocity limit value" and value" incorrectly parameterized "S‑0‑0039, Negative velocity limit value". Check whether pa‐ rameter possibly has been assigned to an analog input or is contained in cyclic data Analog input to which "S‑0‑0091, Bipolar velocity limit Check wiring and function of analog input and, if necessary, value", "S‑0‑0038, Positive velocity limit value" or "S‑0‑0039, replace cable or control section, or the entire drive controller Negative velocity limit value" was assigned is defective or not connected 130/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

See also Functional Description of firmware "Velocity Limitation" 6.3.7 E2050 Device overtemp. prewarning Allocation Contained in 06VRS: «HDH»

The heat sink temperature of the device is monitored by a temperature sen‐ sor and a temperature model. When the heat sink has become too hot, the device is switched off in order to protect it against destruction. Before the error "F2018 Device overtemperature shutdown" is triggered, the warning "E2050 Device overtemp. Prewarning" is output.

When the warning E2050 appears, it is possible to stop the axis via the control unit in accordance with the process (e.g. terminate processing, leave collision area etc.) or to reduce the load of the drive controller.

Cause Remedy

Amplifier overtemperature (heat sink) due to overload of Switch drive off and let it cool down, check mechanical sys‐ drive (overcurrent) tem as well as drive dimensioning (working power mustn't exceed, on average, continuous power of drive) Ambient temperature too high. Specified performance data Reduce ambient temperature, e. g. by cooling the control are valid up to an ambient temperature of 40 °C cabinet Heat sink of device is dirty Clean heat sink Convection is prevented by other components or mounting Mount device vertically and provide sufficient space for ven‐ position of control cabinet tilating heat sink Failure of internal blower If blower fails, replace device or power section Failure of air conditioning for control cabinet Check air conditioning of control cabinet Incorrect dimensioning of control cabinet with regard to heat Check dimensioning of control cabinet discharge See also Functional Description of firmware "Current Limitation" 6.3.8 E2051 Motor overtemp. prewarning Allocation Contained in 06VRS: «HDH»

The motor temperature measured by the temperature sensor approaches the limit value and has reached "S‑0‑0201, Motor warning temperature". The controller outputs the warning E2051. The drive is only switched off (F2019) when the motor temperature has reached the limit value in "S‑0‑0204, Motor shutdown temperature". RE30159-WA Bosch Rexroth AG 131/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Cause Remedy

"S‑0‑0201, Motor warning temperature" incorrectly parame‐ Check and correct parameterization of "S‑0‑0201, Motor terized warning temperature" by means of motor or temperature sensor data sheet The motor is overloaded. The effective torque demanded Check motor dimensioning and reduce motor load, e.g. by from the motor has been above the allowed continuous tor‐ reduced infeed velocity in the case of metal-cutting machin‐ que for a too long time. ing. In the case of installations that have been operated for a long time, check whether drive conditions have changed (with regard to dirt accumulation, friction, moved masses etc.) Line interruption, ground fault or short circuit in the line for Check line for motor temperature monitoring for line interrup‐ motor temperature monitoring tion, ground fault or short circuit Instability in speed control loop Check parameterization of speed control loop Blower / cooling system defective Check blower / cooling system See also Functional Description of firmware "Motor Temperature Monitoring" 6.3.9 E2053 Target position out of travel range Allocation Contained in 06VRS: «HDH»

In operation modes with internal position command value generation a check is run, before a movement is carried out, in order to find out whether the pre‐ set target position ("S‑0‑0258, Target position", "S‑0‑0282, Positioning command value" or "P‑0‑4006, Positioning block target position" [i]) is within the allowed travel range of the drive. The allowed travel range of the drive is defined by ● S‑0‑0049, Positive position limit value ● S‑0‑0050, Negative position limit value The position limit value monitor and thus the monitoring of the allowed travel range is activated in "S‑0‑0055, Position polarities". The position limit value monitor is only active, when the selected encoder is in reference. The reaction to a travel range error can be set in "P‑0‑0090, Travel range limit parameter".

When the position limit value monitor has been activated and the target position is outside of the allowed travel range, a warning bit is set in "S‑0‑0012, Class 2 diagnostics". In addition, the message "S‑0‑0323, Target position outside of travel range" is set. Up to MPx04: The positioning procedure is started. As of MPx05: The positioning procedure is not started.

Cause Remedy

Warnings (Exxxx)

Cause Remedy In the case of relative interpolation, value for travel range Check preset travel range (cf. "S‑0‑0258, Target position") was set too high or several travel ranges that are added and, if necessary, adjust it in control unit program cause effective target position (cf. "P‑0‑0050, Effective target position") to be outside of position limits In the case of absolute interpolation, preset target position is Check preset target position (cf. "S‑0‑0258, Target position" incorrect or "S‑0‑0282, Positioning command value") and, if necessa‐ ry, adjust it in control unit program (only enter "S‑0‑0258, Target position" within position limit values) In "positioning block mode" one or more target positions Check parameterized target positions in "P‑0‑4006, have been incorrectly parameterized or incorrect positioning Positioning block target position" and block selection block is selected ("P‑0‑4026, Positioning block selection"). In addition, check block selection via respective master communication (e.g., field bus or digital I/Os). See also Functional Description of firmware "Position Limitation/Travel Range Limit Switch" For "relative interpolation", see Functional Description of firmware "Drive- Controlled Positioning" For "absolute interpolation", see Functional Description of firmware "Drive- Internal Interpolation" 6.3.10 E2054 Not homed Allocation Contained in 06VRS: «HDH»

Before a motion is carried out a check is run in the case of operating modes with drive-internal position command value generation (drive-internal interpo‐ lation, drive-controlled positioning and positioning block mode) to find out whether, with absolute target position preset ("S‑0‑0258, Target position" or "S‑0‑0282, Positioning command value", or "P‑0‑4006, Positioning block tar‐ get position"), the measuring system used for positioning (cf. operating mode selection) has been homed.

When the warning E2054 appears, the drive stops or does not ac‐ cept the target position or the positioning block. In parameter "S‑0‑0012, Class 2 diagnostics" a warning bit is set.

Cause Remedy

Absolute positioning was started although position data ref‐ Establish absolute position data reference by starting com‐ erence of drive had not yet been established [drive has not mand "S‑0‑0148, C0600 Drive-controlled homing procedure been homed (cf. "S‑0‑0403, Position feedback value sta‐ command" or "P‑0‑0012, C0300 Command Set absolute tus")] measuring" See also Functional Description of firmware "Establishing the Position Data Reference" 6.3.11 E2055 Feedrate override S-0-0108 = 0 Allocation Contained in 06VRS: «HDH»

By means of the "S‑0‑0108, Feedrate override" it is possible to make a pro‐ portional scaling for the travel velocity of drive-controlled travel commands (0..100 %). A feedrate override of 0 % causes the effective travel velocity to become "0". In spite of velocity command value being present (e. g. "S‑0‑0259, Position‐ RE30159-WA Bosch Rexroth AG 133/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

ing velocity"), the drive remains stopped at the current position or brakes down until reaching standstill.

The function of the feedrate override can be switched off by set‐ ting S‑0‑0108 = 100 %. If S‑0‑0108 has been cyclically configured or assigned to an ana‐ log input, this configuration has to be changed.

Cause Remedy

Parameter "S‑0‑0108, Feedrate override" was set to "0" Set feedrate override > "0" so that drive moves. Full velocity is reached with 100%. For devices with analog inputs: feedrate override via analog Apply voltage > "0" proportionally to desired velocity (+10 V input has been activated and voltage at analog input is "0" corresponds to 100% of velocity) alternative: deactivate fee‐ drate override Infeed potentiometer of connected control unit was set to "0" Carefully actuate infeed potentiometer, check analog signal or is incorrectly evaluated and evaluation Analog input used for feedrate override or connecting cable Check and if necessary replace cable and control section is defective

To protect the drive or the connected mechanical system against mechanical overload the maximum torque or the maximum force can be limited to al‐ lowed values.

Cause Remedy

One of the torque-/force-limiting parameters has the value Check parameters "S‑0‑0082, Torque/force limit value posi‐ "0" tive"; "S‑0‑0083, Torque/force limit value negative"; "S‑0‑0092, Bipolar torque/force limit value" and "P‑0‑0109, Torque/force peak limit" and enter "correct" limit value (un‐ equal "0") One of the torque-/force-limiting parameters has been as‐ Apply voltage > 0 proportionally to desired torque/force limit signed to analog input and voltage at analog input is "0" value Note: Scaling of analog input defines scaling of analog input voltage (see also Functional Description of firmware "Analog Inputs") Potentiometer of connected control unit was set to "0" or is Carefully actuate potentiometer, check analog signal and incorrectly evaluated evaluation Cable connected at analog input for torque/force limitation is Check and, if necessary, replace cable defective 134/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Cause Remedy Analog input used for torque/force limitation is defective Replace control section or entire drive controller You are using motor without encoder memory; its motor data Load motor parameters via motor data base stored in haven't yet been set and max. allowed currents (S‑0‑0109, IndraWorks D S‑0‑0111,...) therefore are still "0"

See also Functional Description of firmware "Torque/Force Control" 6.3.13 E2058 Selected positioning block has not been programmed Allocation Contained in 06VRS: «HDH»

In the "positioning block mode" the selected positioning block is checked so that only complete positioning blocks can be started.

When the warning E2058 appears, the drive stops or does not ac‐ cept the selected positioning block. In parameter "S‑0‑0012, Class 2 diagnostics" a warning bit is set.

Cause Remedy

Positioning block data of currently selected block are not Check positioning block data ("P‑0‑4006, Positioning block available target position", "P‑0‑4007, Positioning block velocity", "P‑0‑4008, Positioning block acceleration", "P‑0‑4009, Posi‐ tioning block jerk", and "P‑0‑4019, Positioning block mode") and correct respective parameters Incorrect positioning block selection via field bus or digital in‐ Check "P‑0‑4026, Positioning block selection" and control. If puts necessary, also check wiring and connection of digital I/Os Incorrect configuration of digital inputs causes unwanted po‐ Check configuration of digital inputs and correct it according‐ sitioning block selection ly See also Functional Description of firmware "Digital Inputs/Outputs" See also Functional Description of firmware "Positioning Block Mode" 6.3.14 E2059 Velocity command value limit active Allocation Contained in 06VRS: «HDH»

The drive is constantly monitoring the effective velocity command value (sum of velocity command values at controller input) and is limiting it. If the effective velocity command value exceeds "S‑0‑0091, Bipolar velocity limit value", the warning E2059 is output because for positioning tasks the lag error can be increased.

Cause Remedy

Cyclic command value preset by control unit is incorrect or Control cyclic command value and, if necessary, adjust con‐ too high trol program Velocity limit value parameterized too low Check and correct parameterization of "S‑0‑0091, Bipolar velocity limit value" RE30159-WA Bosch Rexroth AG 135/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

See also Functional Description of firmware "Velocity Control" 6.3.15 E2061 Device overload prewarning Allocation Contained in 06VRS: «HDH»

The device load has exceeded a notification limit. A warning is generated warning of threatened overload if the load is not reduced. Devices with digital control are monitored by means of a continuously ope‐ rating temperature model. If the thermal load approaches 100%, the continu‐ ous current limit is activated shortly afterwards and the warning "E8057 De‐ vice overload, current limitation active" appears. The current limitation is accompanied by torque/force reduction, which is not desired at machines and systems and may lead to problems. Thus, a warning is output before this situation occurs. With HCS, HMS, HMD The threshold value for the overload pre-warning can be set in "P‑0‑0441, Overload warning". If the thermal load exceeds this value, the warning E2061 is output. Reasonable values for "P‑0‑0441, Overload warning" range be‐ tween 80 and 90%, so that there is still a small reserve to the actual thermal load (100%).

The warning can be deactivated by setting the value "100%" in "P‑0‑0441, Overload warning" as in this case, the fatal warning "E8057 Device overload, current limitation active" will be immedi‐ ately generated! With HMV01.1R The threshold value for the overload pre-warning is fixedly set to 90%. If the thermal load exceeds this value, the warning E2061 is output. This threshold cannot be adjusted, so the warning can not be deactivated either!

Cause Remedy

Unsuitable value for "P‑0‑0441, Overload warning" Increase value of "P‑0‑0441, Overload value", if necessary Drive overload (e.g. due to high feed in the processing or Switch off drive and let cool down. Check drive design and large acceleration to high speed) command value profile Changes in the mechanical system with regard to friction With systems which have already been operated for a longer and moved masses period of time, check the drive ratios for changes in the me‐ chanical system See also functional firmware description "Current limitation" 6.3.16 E2063 Velocity command value > limit value Allocation Contained in 06VRS: «HDH»

The drive continuously monitors the velocity command value (S‑0‑0036 or another parameterized command value input). If the velocity command value exceeds the smallest parameterized velocity limit value, the lag error can be increased for positioning tasks.

Cause Remedy

Cyclic command value preset by control unit is incorrect or Check cyclic command value and, if necessary, adjust con‐ too high trol program Velocity limit value parameterized too low Check and correct parameterization of "S‑0‑0091, Bipolar velocity limit value", "S‑0‑0038, Positive velocity limit value", "S‑0‑0039, Negative velocity limit value" See also Functional Description of firmware "Velocity Control" 136/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

6.3.17 E2064 Target position out of num. range Allocation Contained in 06VRS: «-»

The operating mode "drive-internal interpolation" or "drive-controlled position‐ ing" was selected and the preset target position cannot be displayed in the internal position format.

Cause Remedy

Incorrect target position or positioning command value was Check target position ("S‑0‑0258, Target position") or posi‐ preset tioning command value ("S‑0‑0282, Positioning command value") preset by control unit (master) and, if necessary, cor‐ rect control unit program An "infinitely turning axis" is not operated in modulo format Check content of "S‑0‑0076, Position data scaling type" and change to "modulo format" Selected "S‑0‑0278, Maximum travel range" too small Increase value of "S‑0‑0278, Maximum travel range" in order to increase position that can be displayed internally in abso‐ lute form See also Functional Description of firmware "Drive-Controlled Positioning" See also Functional Description of firmware "Drive-Internal Interpolation" 6.3.18 E2070 Acceleration limit active Allocation Contained in 06VRS: «HDH»

The acceleration in the velocity loop is limited to the value of "S‑0‑0138, Bipo‐ lar acceleration limit value".

As of MPx05: The acceleration monitoring can be switched off by inputting "0" in "S‑0‑0138, Bipolar acceleration limit value".

Cause Remedy

Value in "S‑0‑0138, Bipolar acceleration limit value" too low Check and, if necessary, correct parameterization of "S‑0‑0138, Bipolar acceleration limit value" Incorrect command value set by control unit Contact control unit manufacturer or programmer Preset acceleration value was greater than value parameter‐ Reduce acceleration value used ized in "S‑0‑0138, Bipolar acceleration limit value" ● S‑0‑0042, Homing acceleration ● S‑0‑0260, Positioning acceleration ● P‑0‑0057, Return acceleration ● P-0-1201, Ramp 1 pitch ● P-0-1203, Ramp 2 pitch ● P-0-1211, Deceleration ramp 1 ● P-0-1213, Deceleration ramp 2

6.3.19 E2074 Encoder 1: Encoder signals disturbed Allocation Contained in 06VRS: «HDH»

The hardware checks the signals of the measuring system (encoder 1) for in‐ admissible signal dips. If a signal (e.g., sin or cos) leaves the thresholds monitored by the hardware, the warning E2074 is generated. RE30159-WA Bosch Rexroth AG 137/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

For absolute measuring systems (EnDat2.1, HIPERFACE®), the position generation via the incremental track signals (SIN/COS) is monitored by cyclic comparison to the absolute position of the encoder. This allows detecting dis‐ turbances of the analog encoder signals. In the case of major failures or several signal dips in series, the error "F8022 Enc. 1: Enc. signals incorr." is generated and the drive is shut down. The warning E2074 therefore points at disturbed encoder signals before a break‐ down occurs.

The warning E2074 is only cleared by reinitialization of the encod‐ er position; i.e. it is necessary to switch to communication phase 2.

Cause Remedy

The hardware checks the signals of the measuring system (encoder 2) for in‐ admissible signal dips. If a signal (e.g., sin or cos) leaves the thresholds monitored by the hardware, the warning E2075 is generated. For absolute measuring systems (EnDat2.1, HIPERFACE®), the position generation via the incremental track signals (SIN/COS) is monitored by cyclic comparison to the absolute position of the encoder. This allows detecting dis‐ turbances of the analog encoder signals. In the case of major failures or several signal dips in series, the error "F2042 Encoder 2: Encoder signals incorrect" is generated and the drive is shut down. The warning E2075 therefore points at disturbed encoder signals be‐ fore a breakdown occurs.

The warning E2075 is only cleared by reinitialization of the encod‐ er position; i.e. it is necessary to switch to communication phase 2.

Cause Remedy

Warnings (Exxxx)

Cause Remedy Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if neces‐ measuring systems sary Measuring system dirty Clean or replace measuring system Hardware defect on control section of drive Replace control section or entire drive controller

Only Rexroth service engineers or especially trained users are al‐ lowed to replace the control section. The replacement of the en‐ tire drive controller is described in the Project Planning Manual for the power section. 6.3.21 E2077 Absolute encoder monitoring, motor encoder (encoder alarm) Allocation Contained in 06VRS: «HDH»

The signals of an absolute measuring system (EnDat2.x) are monitored in the encoder. In the drive controller, cyclic transmission of the absolute position is carried out. The error bit of the encoder is transmitted, too. The drive controller cycli‐ cally checks this error bit and outputs the warning E2077 when an error of the absolute position occurs.

The warning E2077 is only cleared by reinitialization of the encod‐ er position; i.e. it is necessary to switch to communication phase 2.

Cause Remedy

Measuring system defective Check measuring system and replace it, if necessary Faulty mounting of measuring head in the case of linear Check mounting of measuring head and correct it, if neces‐ measuring systems sary Measuring system dirty Clean or replace measuring system

6.3.22 E2078 Absolute encoder monitoring, opt. encoder (encoder alarm) Allocation Contained in 06VRS: «HDH»

The warning E2078 is only cleared by reinitialization of the encod‐ er position; i.e. it is necessary to switch to communication phase 2. RE30159-WA Bosch Rexroth AG 139/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Cause Remedy

6.3.23 E2092 Internal synchronization defective Allocation Contained in 06VRS: «HDH»

The drive is told by the NC cycle time in which intervals new cyclic command values must be received and have been processed. The warning E2092 is generated, when the parameterized processing clock ["S-0-0001, NC cycle time (TNcyc)"] differs from the effective processing clock of the cyclic com‐ mand values.

Cause Remedy

Up to MPx05V14: Before the occurrence of warning E2092, Remedy cause of communication error. Afterwards, reestab‐ a master communication error, e.g. "F4001 Double MST fail‐ lish cyclic operation ure shutdown", had occurred Master communication with synchronization ability Master communication master must toggle "IPOSYNC" bit (SERCOS II) correctly (see description of master communication) If NC cycle time is greater than SERCOS cycle time, master communication master must toggle "IPOSYNC" bit of master control word; if this is not the case or takes place incorrectly, warning E2092 is generated Master communication with synchronization ability Producer of synchronous consumer connection must toggle

(SERCOS III) "new data" bit at point of time TPcyc As of MPX06: With synchronous consumer connection, pro‐ ducer must transmit new data to consumer at a defined point of time. Producer signals this to consumer by toggling bit1 ("new data" bit) of "S-0-1050.x.8, SIII-Connection: Connec‐ tion control (C-Con)". Producer did not toggle this bit at point

of time TPcyc. Drive is a CCD master axis Please contact our service department With activated CCD communication, drive is also a SERCOS III master; i.e. drive generates an MDT and trans‐ mits it to the other axes in CCD ring. Warning E2092 is gen‐ erated, when MDT could not be generated in time

6.3.24 E2100 Positioning velocity of master axis generator too high Allocation Contained in 06VRS: «HDH» 140/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

Cause Remedy

Positioning velocity of master axis generator has reached Velocity parameterized in "P‑0‑0770, Virtual master axis, maximum allowed limit value (P‑0‑0770, Virtual master axis, positioning velocity", with which master axis generator positioning velocity) moves to new target position, must be adjusted: ● In the case of modulo scaling of master axis generator: Half the modulo value (P‑0‑0757, Virtual master axis, modulo value) per 2 ms ● In the case of absolute scaling of master axis genera‐ tor: Half the feed travel (P‑0‑0918, Feed travel internal virtual master axis) per 2 ms

6.3.25 E2101 Acceleration of master axis generator is zero Allocation Contained in 06VRS: «-»

Cause Remedy

Preset positioning acceleration of master axis generator is Set positioning acceleration of master axis generator un‐ "0" equal "0" in "P‑0‑0771, Virtual master axis, positioning accel‐ eration"

6.3.26 E2270 Analog input 1 or 2, wire break Allocation Contained in 06VRS: «-»

Conditions under which this warning is triggered: ● The wire break monitor was activated in "P‑0‑0218, Analog input, con‐ trol parameter" (by the setting for the measuring range of the analog in‐ puts) and ● a setting in "P‑0‑0218, Analog input, control parameter" causes a warn‐ ing to be generated when the input value has fallen below the input val‐ ue at analog input 1 or 2 and ● the current/voltage value at analog input 1 or 2 is lower than the mini‐ mum value of the measuring range. The warning persists until the condition has been fulfilled.

The value range of the voltage or current source that is connected to the analog input should be limited to the allowed value range of the analog input.

Cause Remedy

Input value at analog input 1 or 2 is lower than minimum val‐ Check wiring of analog input, reestablish contact to voltage ue of voltage measuring range (setting "voltage signals" in source, if necessary "P‑0‑0218, Analog input, control parameter") ‑ or – Check value range of voltage source Input value at analog input 1 or 2 is lower than minimum val‐ Check wiring of analog input, reestablish contact to current ue of current measuring range (setting "current signals" in source, if necessary "P‑0‑0218, Analog input, control parameter") ‑ or – Check value range of current source RE30159-WA Bosch Rexroth AG 141/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

This warning can only be displayed at a controller containing a CSB01.1N-FC-... (BASIC OPENLOOP) control section. 6.3.27 E2810 Drive system not ready for operation Allocation Contained in 06VRS: «HDH»

One or several components of a "drive system" (devices interconnected via direct voltage DC bus and module bus) signal an error via the module bus (Fxxxx) with the supply unit not yet ready for power output. Power on is impossible in this case, the supply unit or the converter signal E2810 on the display.

Cause Remedy

Error message of one or several components of a drive sys‐ Identify component/components which signals/signal an tem error. Remove cause of error at component/components See also Functional Description of firmware "Power Supply" 6.3.28 E2818 Phase failure Allocation Contained in 06VRS: «-»

A single-phase mains failure was detected. Power is not switched off unless undervoltage occurs in the DC bus (F2026).

When the phase failure lasts for a longer time, the error "F2818 Phase failure" is generated.

Cause Remedy

No mains voltage available Check mains voltage and mains connection Mains circuit breaker defective Replace mains circuit breaker Incorrect wiring Check and correct wiring

6.3.29 E2819 Mains failure Allocation Contained in 06VRS: «HDH»

A two-phase or three-phase mains failure was detected. Power is not switch‐ ed off unless undervoltage occurs in the DC bus (E2026).

Cause Remedy

No mains voltage available Check mains voltage and mains connection Mains circuit breaker defective Replace mains circuit breaker Incorrect wiring Check and correct wiring

6.3.30 E2820 Braking resistor overload prewarning Allocation Contained in 06VRS: «HDH»

A temperature model taking the working power and the maximum energy consumption of the braking resistor into account is calculated for the thermal load of the braking resistance. If the thermal load reaches the warning thresh‐ old, this warning is issued and bit 1 is set in "S‑0‑0012, Class 2 diagnostics". Up to MPx07V12: The warning threshold is fixed to 90%. 142/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Warnings (Exxxx)

As of MPx07V14: The warning threshold can be defined by parameter "P‑0‑0469, Prewarning threshold of therm. load of braking resistor".

Cause Remedy

Allowed deceleration of connected drives too high Reduce deceleration of connected drives Energy consumption capacity of braking resistor is almost Switch power off with a delay in case of OFF or E‑STOP (for exhausted regenerative supply) Regenerated energy in machining cycle is too high Increase cycle time or reduce maximum drive speed of ap‐ plication Braking resistor connection is interrupted Check wiring of external braking resistor Continuous regenerative power and/or rotary drive energy is Check dimensioning of braking resistor; increase dimension‐ too high ing if necessary RE30159-WA Bosch Rexroth AG 143/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis 7 Command Diagnosis 7.1 Commands 7.1.1 C0100 Communication phase 3 transition check Allocation Contained in 06VRS: «HDH»

The "S‑0‑0127, C0100 Communication phase 3 transition check" command was activated. 7.1.2 C0200 Exit parameterization level procedure command Allocation Contained in 06VRS: «HDH»

In the firmware versions 02VRS and 03VRS, the name of the command is "C0200 Communication phase 4 transition check".

02VRS / 03VRS The command "S‑0‑0128, C0200 Communication phase 4 transition check" has been activated. As of 04VRS The command "S‑0‑0422, C0200 Exit parameterization level procedure com‐ mand" has been activated. 7.1.3 C0300 Set absolute position procedure command Allocation Contained in 06VRS: «HDH»

The command for setting the absolute measuring ("P‑0‑0012, C0300 Com‐ mand Set absolute measuring") was activated. See also Functional Description of firmware "Set Absolute Measuring" 7.1.4 C0400 Activate parameterization level 1 procedure command Allocation Contained in 06VRS: «HDH»

02VRS / 03VRS The command for switching to the parameter mode was started via parame‐ ter "P‑0‑4023, C0400 Communication phase 2 transition".

This command has to be carried out before editing parameters that can only be written in the parameter mode.

As of 04VRS The command for switching to the parameter mode was started via parame‐ ter "S‑0‑0420, C0400 Activate parameterization level 1 procedure command". 7.1.5 C0500 Reset class 1 diagnostics, error reset Allocation Contained in 06VRS: «HDH»

The command for clearing errors, "S‑0‑0099, C0500 Reset class 1 diagnos‐ tics", was activated. All drive-internal errors are cleared.

Only those errors can be cleared that were removed! Errors that are still present after clearing will cause the error message to be generated again. 144/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

CAUTION Damage to the internal memory (flash) caused by too many write accesses! ⇒ During the execution of this command, data are written to the internal memory (flash). As each flash only allows a limited number of write accesses before its memory locations are destroyed, you should make sure that such write accesses won't be carried out too often.

7.1.6 C0600 Drive-controlled homing procedure command Allocation Contained in 06VRS: «HDH»

The command for drive-controlled homing, "S‑0‑0148, C0600 Drive-control‐ led homing procedure command", was activated. See also Functional Description of firmware "Drive-Controlled Homing" 7.1.7 C0700 Load defaults proced. command (motor-spec. controller val.) Allocation Contained in 06VRS: «HDH»

Up to MPx07, the name of this command was "C0720 Load defaults procedure com. (load controller param.)".

The message "C07_0" on the display of the drive controller shows that the command "C0700 Load defaults proced. command (motor-spec. controller val.)" was activated. The command can be started as follows: ● Via parameter "S‑0‑0262, C07_x Load defaults procedure command" or ● Via the control panel of the drive controller or ● By starting the command "S‑0‑0099, C0500 Reset class 1 diagnostics" when the drive controller displays "RL". ("RL" occurs if parameters "S‑0‑0141, Motor type" and "P‑0‑2141, Motor type, encoder memory" are different.)

With the parameter S‑0‑0262, it is possible to start other com‐ mands. In parameter "P‑0‑4090, Configuration for loading default values", it is possible to set which commands is started.

Command "C0700 Load defaults proced. command (motor-spec. controller val.)" can only be executed for Rexroth motors with motor encoder data memory (e.g. motors of the MHD, MKD and MKE lines). With these motors, the controller parameters are loaded from the motor encoder data memory to the drive controller and some controller parameters are set to their default values.

NOTICE Command "C0700 Load defaults proced. command (motor-spec. controller val.)" over‐ writes user-defined controller settings! Only use this command if you want to load standard controller parameter val‐ ues. For saving and then loading user-defined parameter values, there are specific commands available. RE30159-WA Bosch Rexroth AG 145/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

NOTICE Damage to the internal memory (flash) caused by too many write accesses! During the execution of this command, data are written to the internal memo‐ ry (flash). This memory, however, only allows a limited number of write ac‐ cesses. For this reason, you should make sure that such write accesses are not carried out too often (a maximum of approx. 100,000 writing cycles).

See also Functional Description of firmware "Loading, Storing and Saving Parameters" See also Functional Description of firmware "Control Panels of the IndraDrive Controllers" 7.1.8 C0720 Load defaults procedure command (safety technology) Allocation Contained in 06VRS: «HDH»

Up to MPx07, the name of this command was "C0720 Load def. proc. com. (load def. pr. for safety techn.)".

Message "C07_4" on the display of the drive controller shows that command "C0740 Load defaults procedure command (safety technology)" was activa‐ ted. The command can be started as follows: 1. Enter value "0x00A5" in parameter "P‑0‑4090, Configuration for loading default values". 2. Start "S‑0‑0262, C07_x Load defaults procedure command".

With the parameter S‑0‑0262, it is possible to start other com‐ mands. In parameter "P‑0‑4090, Configuration for loading default values", it is possible to set which commands is started.

CAUTION Command "C0720 Load defaults procedure command (safety technology)" deactivates the safety technology and overwrites user-de‐ fined safety technology settings! Use this command only if you want to commission a new safety technology.

7.1.9 C0730 Load defaults procedure command (MLD) Allocation Contained in 06VRS: «HDH»

Up to MPx07, the name of this command was "C0730 Load def. proc. com. (load defaults procedure for PLC)".

Message "C07_3" on the display of the drive controller shows that command "C0730 Load defaults procedure command (MLD)" was activated. The command can be started as follows: 1. Enter value "0x0002" in parameter "P‑0‑4090, Configuration for loading default values". 2. Start "S‑0‑0262, C07_x Load defaults procedure command". 146/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

With the parameter S‑0‑0262, it is possible to start other com‐ mands. In parameter "P‑0‑4090, Configuration for loading default values", it is possible to set which commands is started.

CAUTION Command "C0730 Load defaults procedure command (MLD)" deactivates the drive PLC and overwrites user-defined PLC settings! Use this command only if you want to completely erase the PLC program and its parameters without programming system.

7.1.10 C0740 Command Activate field bus profile settings Allocation Contained in 06VRS: «-»

The message "C07_4" on the display of the drive controller shows that the command "C0740 Command Activate field bus profile settings" was activa‐ ted. The command execution sets user-defined parameters depending on the field bus profile to their default values. The command can be started as follows: 1. Enter the value "0x0004" in the parameter "P‑0‑4090, Configuration for loading default values". 2. Start "S‑0‑0262, C07_x Load defaults procedure command".

With the parameter S‑0‑0262, it is possible to start other com‐ mands. In parameter "P‑0‑4090, Configuration for loading default values", it is possible to set which commands is started. 7.1.11 C0750 Load defaults procedure command (factory settings) Allocation Contained in 06VRS: «HDH»

Up to MPx07, the name of this diagnostic message was "C0750 Load defaults procedure com. (load basic parameters)".

By executing command "C0750 Load defaults procedure command (factory settings)", the parameters stored in non-volatile form are reset to the factory settings. It is possible to exclude parameters of certain subfunctions from loading of default values (see "P‑0‑4090, Configuration for loading default values"). The command can be started as follows: 1. Enter value "0x0001" in parameter "P‑0‑4090, Configuration for loading default values". 2. Use bits 4 to 7 in "P‑0‑4090, Configuration for loading default values" to select the parameter values to be maintained. 3. Start "S‑0‑0262, C07_x Load defaults procedure command". RE30159-WA Bosch Rexroth AG 147/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.1.12 C0800 Load basic parameters command Allocation Contained in 06VRS: «-»

This command is only available for manufacturer-side testing and developing purposes! 7.1.13 C0900 Position spindle command Allocation Contained in 06VRS: «HDH»

Via the control unit the "S‑0‑0152, C0900 Position spindle command" param‐ eter was activated. See also Functional Description of firmware "Spindle Positioning" 7.1.14 C1300 Positive stop drive procedure command Allocation Contained in 06VRS: «HDH»

The command "S‑0‑0149, C1300 Positive stop drive procedure command" was activated. See also Functional Description of firmware "Positive Stop Drive Procedure" 7.1.15 C1400 Command Get marker position Allocation Contained in 06VRS: «HDH»

The "P‑0‑0014, C1400 Command Get marker position command" was star‐ ted. The "C14" display signals that the command is executed. In the case of incremental measuring systems, the reference mark is checked for correct detection. See also Functional Description of firmware "Detect marker position" 7.1.16 C1500 Cancel reference point procedure command Allocation Contained in 06VRS: «HDH»

The command "S‑0‑0191, C1500 Cancel reference point procedure com‐ mand" was started. The "C15" display signals that the command is executed. The reference of the encoder selected via "S‑0‑0147, Homing parameter" is cleared. See also Functional Description of firmware "Drive-Controlled Homing" 7.1.17 C1600 Parking axis command Allocation Contained in 06VRS: «HDH» 148/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

The command "S‑0‑0139, C1600 Parking axis command" has been activa‐ ted. See also Functional Description of firmware "Parking Axis" 7.1.18 C1800 Command Drive optimization / command value box Allocation Contained in 06VRS: «HDH»

By starting the command "P‑0‑0162, C1800 Command Automatic control loop adjust" automatic control loop setting is carried out in the drive, if the drive is in control at the start of the command (i.e. drive enable must have been set).

WARNING ⇒ Starting the command C1800 can immediately trigger a motion, if drive enable and drive start are set at the drive. ⇒ The drive automatically (i.e. without external command value input) carries out motions within the travel range defined before with the two limits ("P‑0‑0166, Lower limit for autom. control loop adjust" and "P‑0‑0167, Upper limit for autom. control loop adjust"). Check and make sure that the E-Stop circuit and the travel range limit switches are working.

See also Functional Description of firmware "Automatic Setting of Axis Con‐ trol" 7.1.19 C2200 Backup working memory procedure command Allocation Contained in 06VRS: «HDH»

The command "S‑0‑0264, C2200 Backup working memory procedure com‐ mand" was activated.

7.1.20 C2300 Load working memory procedure command Allocation Contained in 06VRS: «HDH»

The command "S‑0‑0263, C2300 Load working memory procedure com‐ mand" was activated.

Command Diagnosis

7.1.21 C2400 Selectively backup working memory procedure command Allocation Contained in 06VRS: «HDH»

The "S‑0‑0293, C2400 Selectively backup working memory procedure com‐ mand" was activated. 7.1.22 C2800 Analog input adjustment command Allocation Contained in 06VRS: «HDH»

By executing the command "P‑0‑0220, C2800 Analog input adjustment command", it is possible to carry out an automatic adjustment (zero point and gain) of the analog input.

The command is controlled by the settings in "P‑0‑0218, Analog input, control parameter". The execution of the command takes some time; the status of the command can be polled via the assigned command parameter.

See also Functional Description of firmware: ● "Command Processing" ● "Analog Inputs" 7.1.23 C2900 Command Firmware update from MMC Allocation Contained in 06VRS: «HDH»

The command "P‑0‑4072, C2900 Command Firmware update from MMC" was started. The firmware is copied from the MultiMediaCard (MMC) to the drive-internal memory.

The MMC can only be used as an optional memory for control sections with MMC slot.

Upon successful firmware update the drive has to be rebooted by switching it off and on again so that the firmware copied before becomes active. If you try to switch to the operating mode without the drive having been rebooted, there will either occur a switching command error or a system error (F8xxx) entered before the firm‐ ware update will be displayed again.

See also Functional Description of firmware "Firmware Release Update" 7.1.24 C3100 Recalculate actual value cycle Allocation Contained in 06VRS: «HDH»

When the command "P‑0‑0071, C3100 C3100 Command Recalculate actual value cycle" is executed, the modulo value for the actual value cycle is recal‐ culated. The calculated modulo value can be taken from the parameter"P‑0‑0786, Modulo value actual value cycle". 7.1.25 C3300 Set coordinate system procedure command Allocation Contained in 06VRS: «HDH» 150/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

The command for setting the coordinate system ("S‑0‑0197, C3300 Set coor‐ dinate system procedure command") was activated. See also Functional Description of firmware "Shifting the Position Data Refer‐ ence for Relative and Absolute Measuring Systems" 7.1.26 C3400 Shift coordinate system procedure command Allocation Contained in 06VRS: «HDH»

The command for shifting the coordinate system ("S‑0‑0199, C3400 Shift co‐ ordinate system procedure command") was activated. See also Functional Description of firmware "Shifting the Position Data Refer‐ ence for Relative and Absolute Measuring Systems" 7.1.27 C3500 Command Determine encoder correction values Allocation Contained in 06VRS: «-»

By executing the command "P‑0‑0340, C3500 Command Determine encoder correction values" signal shape errors of a measuring system with sinusoidal signals are determined and correction values are stored in "P‑0‑0342, Cor‐ rection value table for encoder correction". The encoder the signal shape error of which is to be compensated has to be selected in "P‑0‑0341, Control word for encoder correction". 7.1.28 C4100 Switch parameter set command Allocation Contained in 06VRS: «HDH»

The command "S‑0‑0216, C4100 Switch parameter set command" was star‐ ted. See also Functional Description of firmware "Parameter Set Switching" 7.1.29 C4200 Drive-controlled oscillation command Allocation Contained in 06VRS: «HDH»

The command "S‑0‑0190, C4200 Drive-controlled oscillation command" was started. See also Functional Description of firmware "Drive-Controlled Oscillation" 7.1.30 C4300 NC-controlled homing procedure command Allocation Contained in 06VRS: «HDH»

The command for NC-controlled homing ("S‑0‑0146, C4300 NC-controlled homing procedure command") was activated. The master inputs the com‐ mand values for moving the axis to the reference point and controls the hom‐ ing procedure via commands and the respective parameters.

The control information for homing has to be defined in "S‑0‑0147, Homing parameter".

See also Functional Description of firmware "Establishing Position Data Ref‐ erence for Relative Measuring Systems" 7.1.31 C4400 Calculate displacement procedure command Allocation Contained in 06VRS: «HDH» RE30159-WA Bosch Rexroth AG 151/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

The command for calculating the displacement values ("S‑0‑0171, Calculate displacement procedure command") was activated. See also "S‑0‑0175, Offset parameter 1" and "S‑0‑0176, Offset parameter 2" See also Functional Description of firmware "Establishing Position Data Ref‐ erence for Relative Measuring Systems" 7.1.32 C4500 Displacement to referenced system procedure command Allocation Contained in 06VRS: «HDH»

The command "S‑0‑0172, C4500 Displacement to referenced system proce‐ dure command" was activated. See also Functional Description of firmware "Establishing Position Data Ref‐ erence for Relative Measuring Systems" 7.1.33 C4700 Command Activate easy startup mode Allocation Contained in 06VRS: «-»

The command for starting the "easy startup" mode (commissioning mode for SERCOS and field bus devices; "P‑0‑4085, C4700 Command Activate easy startup mode") was activated. See also Functional Description of firmware "Initial Start in Easy Startup Mode" 7.1.34 C4800 Command Determine cogging torque compensation table Allocation Contained in 06VRS: «HDH»

The command for determining the cogging torque compensation table, "P‑0‑1138, C4800 Command Determine cogging torque compensation table", was started. See also Functional Description of firmware "Cogging Torque Compensation" 7.1.35 C5200 Communication phase 4 transition check Allocation Contained in 06VRS: «HDH»

The command "S‑0‑0128, C5200 Communication phase 4 transition check" has been activated.

This status is displayed on the control panel of the drive with "C52". 7.1.36 C5300 SERCOS III: Command SYNC delay measurement Allocation Contained in 06VRS: «HDH»

The command "S‑0‑1024, C5300 SERCOS III: SYNC delay measuring pro‐ cedure command" was activated. 7.1.37 C6000 Set absolute position procedure command Allocation Contained in 06VRS: «HDH»

The command for setting the absolute measuring ("S‑0‑0447, C6000 Com‐ mand Set absolute measuring") was activated. See also Functional Description of firmware "Set Absolute Measuring" 152/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.1.38 C6100 Command Activate IP settings Allocation Contained in 06VRS: «HDH»

The command "P‑0‑1534, C6100 Command Activate IP settings" was star‐ ted. The settings of all existing parameters for IP communication are first checked in the drive for verisimilar and changed values.

Interface IP address Network mask Gateway address

SERCOS III master (CCD) P-0-1641 P-0-1642 P-0-1643 Engineering over IP (master S-0-1020 S-0-1021 S-0-1022 communication) Engineering P-0-1531 P-0-1532 P-0-1533 Master communication P-0-4089.0.13 P-0-4089.0.14 P-0-4089.0.15

Fig.7-1: Parameters for IP Communication If changes were made, the IP communication is aborted via the correspond‐ ing interface. The new settings are activated and communication with the new settings is started.

The IP communication via the interfaces for which the settings were not changed is not affected by the command and can con‐ tinue without restrictions.

Before the command is executed, IP communication with the in‐ terfaces should be terminated by the IP client. Otherwise, error messages can occur in the corresponding clients due to missing communication. 7.2 Command Errors 7.2.1 C0101 Invalid parameters (-> S-0-0021) Allocation Contained in 06VRS: «HDH»

While command "S‑0‑0127, C0100 Communication phase 3 transition check" is executed, internal variables are initialized and the available parameters are checked (e.g. for validity). An error was detected during execution of the command.

Cause Remedy

Data block elements required in communication phase 3 are Write allowed operating data to parameters affected. (Affec‐ missing or invalid ted parameters can be taken from list "S‑0‑0021, IDN-list of invalid operation data for CP2") A change was made in "P‑0‑2003, Selection of functional Check content of "P‑0‑2003, Selection of functional packages". Then you failed to reboot before trying to switch packages" and reboot (i.e., switch device off and on again) to operating mode. RE30159-WA Bosch Rexroth AG 153/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy A change of functional packages was made in "P‑0‑2003, Correct list parameters affected. (Affected parameters can Selection of functional packages" which has an effect on be taken from list "S‑0‑0021, IDN-list of invalid operation customer- and application-specific parameters lists (e.g., data for CP2".) S‑0‑0279) Problem can also be remedied by loading basic parameters ("S‑0‑0262, C07_x Load defaults procedure command" with appropriate setting in "P‑0‑4090, Configuration for loading default values") Internal data memory defective Contact our service department For removing command errors see "Command Errors" 7.2.2 C0102 Limit error in parameter (-> S-0-0021) Allocation Contained in 06VRS: «HDH»

While the command "S‑0‑0127, C0100 Communication phase 3 transition check" is executed, the limit values (minimum/maximum value) are checked for some parameters. An error was detected during the execution of the com‐ mand.

Cause Remedy

Parameter values required in communication phase 3 are Write allowed values to parameters (cf. minimum/maximum outside their allowed range of values (minimum or maximum value) (these parameters can be taken from list "S‑0‑0021, value) IDN list of invalid operating data for communication phase 2") For removing command errors see "Command Errors" 7.2.3 C0103 Parameter conversion error (->S-0-0021) Allocation Contained in 06VRS: «HDH»

While the command "S‑0‑0127, C0100 Communication phase 3 transition check" is executed, the internal parameter formats are checked in order to ensure the internal processing. An error was detected during the execution of the command.

Cause Remedy

Parameter values required in communication phase 3 can‐ Write allowed values to parameters (these parameters can not be processed be taken from list "S‑0‑0021, IDN list of invalid operating da‐ ta for communication phase 2") For removing command errors see "Command Errors" 7.2.4 C0104 Config. IDN for MDT not configurable Allocation Contained in 06VRS: «HDH»

During the transition check from communication phase 2 to communication phase 3 (C0100) an error with regard to the telegram configuration of the master communication was detected. 154/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

In "S‑0‑0015, Telegram type parameter", telegram type 7 Set priority telegram (telegram type = 0..6) in "S‑0‑0015, (configured telegram) was set Telegram type parameter" In "S‑0‑0024, Config. list of the master data telegram" there In "S‑0‑0024, Config. list of the master data telegram" those were some parameters entered that are not contained in parameters have to be entered that are contained in "S‑0‑0188, List of configurable data in the MDT" "S‑0‑0188, List of configurable data in the MDT"

List parameters are only allowed in the multiplex channel.

7.2.5 C0105 Maximum length for MDT exceeded Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0127, C0100 Communication phase 3 transition check" an error with regard to the telegram configuration of the master communication was detected.

Cause Remedy

In "S‑0‑0015, Telegram type parameter", telegram type 7 Set priority telegram (telegram type = 0..6) in "S‑0‑0015, (configured telegram) was set Telegram type parameter" Length of configured data record in MDT that is determined Reduce number of configured parameters in MDT by "S‑0‑0024, Config. list of the master data telegram" ex‐ ("S‑0‑0024, Config. list of the master data telegram") ceeds the maximum allowed value entered in "S‑0‑0186, Length of the configurable data record in the MDT"

List parameters are only allowed in the multiplex channel.

For removing command errors see "Command Errors" 7.2.6 C0106 Config. IDNs for AT not configurable Allocation Contained in 06VRS: «HDH»

During the transition check from communication phase 2 to communication phase 3 (C0100) an error with regard to the telegram configuration of the master communication was detected.

Cause Remedy

In "S‑0‑0015, Telegram type parameter", telegram type 7 Set priority telegram (telegram type = 0..6) in "S‑0‑0015, Tele‐ (configured telegram) was set gram type parameter" In "S‑0‑0016, Custom amplifier telegram configuration list" In "S‑0‑0016, Custom amplifier telegram configuration list" there were some parameters entered that are not con‐ those parameters have to be entered that are contained in tained in "S‑0‑0187, List of configurable data in the AT" "S‑0‑0187, List of configurable data in the AT"

List parameters are only allowed in the multiplex channel.

7.2.7 C0107 Maximum length for AT exceeded Allocation Contained in 06VRS: «HDH»

During the transition check from communication phase 2 to communication phase 3 (C0100) an error with regard to the telegram configuration of the master communication was detected. RE30159-WA Bosch Rexroth AG 155/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

In "S‑0‑0015, Telegram type parameter", telegram type 7 Set priority telegram (telegram type = 0..6) in "S‑0‑0015, (configured telegram) was set Telegram type parameter" Length of configured data record in AT that is determined by Reduce number of configured parameters in AT in "S‑0‑0016, Custom amplifier telegram configuration list", ex‐ "S‑0‑0016, Custom amplifier telegram configuration list" ceeds maximum allowed value entered in "S‑0‑0185, Length of the configurable data record in the AT"

7.2.8 C0108 Time slot parameter > Sercos cycle time Allocation Contained in 06VRS: «HDH»

While the command "S‑0‑0127, C0100 Communication phase 3 transition check" is executed, the timing settings for SERCOS communication are checked. An error was detected during the execution of the command.

Cause Remedy

At least one of the following time slot parameters exceeds Correct respective time slot parameter(s). SERCOS cycle time ["S‑0‑0002, SERCOS Cycle time Contact machine manufacturer or installation programmer (Tscyc)"]: ● S‑0‑0006, AT Transmission starting time (T1) ● S‑0‑0007, Feedb. acquisition starting time (T4) ● S‑0‑0008, Command value valid time (T3) ● S‑0‑0089, MDT Transmit starting time (T2)

The definition of the times for the time slot parameters is the re‐ sponsibility of the control unit manufacturer and is specified by SERCOS interface.

For removing command errors see "Command Errors" 7.2.9 C0109 Position of data record in MDT (S-0-0009) even Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0127, C0100 Communication phase 3 transition check" an error was detected.

Cause Remedy

Parameter "S‑0‑0009, Position of data record in MDT" con‐ Parameter "S‑0‑0009, Position of data record in MDT" must tains an even value. This is not allowed. be parameterized with an odd value

The definition of the S‑0‑0009 parameter is the responsibility of the control unit manufacturer and is specified by SERCOS.

For removing command errors see "Command Errors" 7.2.10 C0110 Length of MDT (S-0-0010) odd Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0127, C0100 Communication phase 3 transition check" an error was detected. 156/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Parameter "S‑0‑0010, Length of master data telegram" con‐ Parameter "S‑0‑0010, Length of master data telegram" has tains an odd value. This is not allowed. to be parameterized with an even value

The definition of the S‑0‑0010 parameter is the responsibility of the control unit manufacturer and is specified by SERCOS.

For removing command errors see "Command Errors" 7.2.11 C0111 ID9 + Record length - 1 > length MDT (S-0-0010) Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0127, C0100 Communication phase 3 transition check" an error was detected. The position of the data record in the master data telegram (MDT) (S‑0‑0009) plus the length of the data record in the MDT for the drive is greater than the total length of the MDT (S‑0‑0010).

Cause Remedy

Parameterization of "S‑0‑0009, Position of data record in Correct parameterization of "S‑0‑0009, Position of data re‐ MDT" and "S‑0‑0010, Length of master data telegram" is in‐ cord in MDT" and "S‑0‑0010, Length of master data tele‐ correct gram"

The definition of the S‑0‑0009 and S‑0‑0010 parameters is the re‐ sponsibility of the control unit manufacturer and is specified by SERCOS. 7.2.12 C0112 TNcyc (S-0-0001) or TScyc (S-0-0002) error Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0127, C0100 Communication phase 3 transition check" an error with regard to the SERCOS timing settings was detected.

Cause Remedy

Setting of parameters "S‑0‑0001, NC Cycle time (TNcyc)" or Correct parameters "S‑0‑0001, NC Cycle time (TNcyc)" and "S‑0‑0002, SERCOS Cycle time (TScyc)" is incorrect "S‑0‑0002, SERCOS Cycle time (TScyc)". There are settings of 500 µs for control section ADVANCED (or 1 ms for control section BASIC) or integral multiples of 1 ms allowed.

The definition of the S‑0‑0001 and S‑0‑0002 parameters is the re‐ sponsibility of the control unit manufacturer and is specified by SERCOS.

For removing command errors see "Command Errors" 7.2.13 C0113 Relation TNcyc (S-0-0001) to TScyc (S-0-0002) error Allocation Contained in 06VRS: «HDH» RE30159-WA Bosch Rexroth AG 157/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

During the execution of the command "S‑0‑0127, C0100 Communication phase 3 transition check" an error with regard to the SERCOS timing settings was detected.

Cause Remedy

Setting of parameters "S‑0‑0001, NC Cycle time (TNcyc)" or Value of "S‑0‑0001, NC Cycle time (TNcyc)" can only be "S‑0‑0002, SERCOS Cycle time (TScyc)" is incorrect equal to or a multiple of "S‑0‑0002, SERCOS Cycle time (TScyc)". Correct parameters "S‑0‑0001, NC Cycle time (TNcyc)" and "S‑0‑0002, SERCOS Cycle time (TScyc)".

The definition of the S‑0‑0001 and S‑0‑0002 parameters is the re‐ sponsibility of the control unit manufacturer and is specified by SERCOS.

For removing command errors see "Command Errors" 7.2.14 C0114 T4 > TScyc (S-0-0002) - T4min (S-0-0005) Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0127, C0100 Communication phase 3 transition check" an error with regard to the SERCOS timing settings was detected.

Cause Remedy

Value for "S‑0‑0007, Feedback acquisition starting time Correct "S‑0‑0007, Feedback acquisition starting time (T4)". (T4)" is incorrect Maximum allowed value for "S‑0‑0007, Feedback acquisition starting time (T4)" is calculated from "S‑0‑0002, SERCOS cycle time (TScyc)" and "S‑0‑0005, Minimum feedback ac‐ quisition time (T4min)" as follows: S‑0‑0007 > S‑0‑0002 – S‑0‑0005

The definition of the S‑0‑0007 parameter is the responsibility of the control unit manufacturer and is specified by SERCOS.

For removing command errors see "Command Errors" 7.2.15 C0115 T2 too small Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0127, C0100 Communication phase 3 transition check" an error with regard to the SERCOS timing settings was detected.

Cause Remedy

Value set for "S‑0‑0089, MDT Transmit starting time (T2)" is Correct "S‑0‑0089, MDT Transmit starting time (T2)" incorrect. Drive cannot run with this value

The definition of the S‑0‑0089 parameter is the responsibility of the control unit manufacturer and is specified by SERCOS.

For removing command errors see "Command Errors" 158/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.16 C0118 Order of cyclic command value configuration incorrect Allocation Contained in 06VRS: «HDH»

The chronology of the processing of cyclic command value data in the drive has the order with which the configured IDNs have been entered in parame‐ ter "S‑0‑0024, Config. list of the master data telegram". The following param‐ eters are available for using multiplex mode in the cyclic command value tele‐ gram: ● "S‑0‑0360, Data container A: command value 1", ● "S‑0‑0362, Data container A: list index command values" and ● "S‑0‑0368, Data container A: Addressing" If more than one of these parameters has been configured in the cyclic com‐ mand value telegram, their correct order is checked in command "S‑0‑0127, C0100 Communication phase 3" transition check.

Cause Remedy

Incorrect order of relevant parameters in cyclic command Keep correct order of parameters in cyclic command value value telegram telegram: Parameters S‑0‑0362, S‑0‑0366 and S‑0‑0368 must pre‐ cede parameters S‑0‑0360 and S‑0‑0450 to S‑0‑0456 in cy‐ clic command value telegram See also Functional Description of firmware "Multiplex Channel" 7.2.17 C0132 Invalid settings for controller cycle times Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0127, C0100 Communication phase 3 transition check", an error in the parameterization of controller cycle times or PWM switching frequencies was detected.

P-0-0556, Config word P-0-0001, Switching frequency of TA - position TA - velocity loop TA - current loop of axis controller, bit 2 the power output stage loop

0 (Basic) 16 kHz 500 µs 250 µs 62.5 µs 0 (Basic) 12 kHz 500 µs 250 µs 83.3 µs 0 (Basic) 8 kHz 500 µs 250 µs 125.0 µs 0 (Basic) 4 kHz 500 µs 250 µs 125.0 µs 0 (Basic) 2kHz 500 µs 250 µs 250.0 µs 1 (Advanced) 16 kHz 250 µs 125 µs 62.5 µs 1 (Advanced) 8 kHz 250 µs 125 µs 62.5 µs 1 (Advanced) 4 kHz 250 µs 125 µs 125.0 µs

TA Sampling time Fig.7-2: Possible Controller Cycle Times Depending on Controller Perform‐ ance and Switching Frequency That Have Been Set RE30159-WA Bosch Rexroth AG 159/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Parameterization of "P‑0‑0556, Config word of axis control‐ Select setting "Basic performance" (cf. bit 2) in "P‑0‑0556, ler" does not comply with switching frequency of 12 kHz set Config word of axis controller" in "P‑0‑0001, Switching frequency of the power output stage" Incorrect parameterization of switching frequency selected in In "P‑0‑0001, Switching frequency of the power output "P‑0‑0001, Switching frequency of the power output stage" stage", select allowed switching frequency (see table) with given controller performance (= sampling rate/time) See also Functional Description of firmware "Features of the Control Loops" For removing command errors see "Command Errors" 7.2.18 C0139 T2 (S-0-0089)+length MDT (S-0-0010)>TScyc (S-0-0002) Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0127, C0100 Communication phase 3 transition check" an error with regard to the timing setting of the SERCOS interface was detected. The phase switch to communication phase 3 is prevented.

Cause Remedy

Sum of transmit starting time of master data telegram set by Parameterize smaller value for transmit starting time of mas‐ master ["S‑0‑0089, MDT Transmit starting time (T2)"] and ter data telegram ["S‑0‑0089, MDT Transmit starting time length of data record of master data telegram ("S‑0‑0010, (T2)"] Length of master data telegram") exceeds SERCOS cycle time ["S‑0‑0002, SERCOS Cycle time (TScyc)"]. This means that master data telegram overlaps the master synchroniza‐ tion telegram (MST) For removing command errors see "Command Errors" 7.2.19 C0151 IDN for command value data container not allowed Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0127, C0100 Communication phase 3 transition check" an error with regard to the command value configu‐ ration list was detected. The phase switch to communication phase 3 is pre‐ vented.

Cause Remedy

A command value configuration list (S‑0‑0370 and S‑0‑0490 Check parameters "S‑0‑0370, Data container A: configura‐ to S‑0‑0496) contains one or several IDNs that aren't exist‐ tion list command value-1" and "S‑0‑0490, Data container A: ing or not contained in "S‑0‑0188, List of configurable data in configuration list command value 2" to "S‑0‑0496, Data con‐ the MDT" tainer A: configuration list command value 8" for incorrect IDNs and correct them For removing command errors see "Command Errors" See also Functional Description of firmware "Multiplex Channel" 7.2.20 C0152 IDN for actual value data container not allowed Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0127, C0100 Communication phase 3 transition check" an error with regard to the actual value configura‐ tion list was detected. The phase switch to communication phase 3 is preven‐ ted. 160/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

An actual value configuration list (S‑0‑0371 and S‑0‑0500 to Check parameters "S‑0‑0371, Data container A: configura‐ S‑0‑0506) contains one or several IDNs that aren't existing tion list feedback value-1" and "S‑0‑0500, Data container A: or not contained in "S‑0‑0187, List of configurable data in the configuration list feedback value 2" to "S‑0‑0506, Data con‐ AT" tainer A: configuration list feedback value 8" for incorrect IDNs and correct them For removing command errors see "Command Errors" See also Functional Description of firmware "Multiplex Channel" 7.2.21 C0172 Delay measurement (S-0-1024) not carried out Allocation Contained in 06VRS: «HDH»

A check run during the execution of the command "S-0-0127, C0100 Com‐ munication phase 3 transition check" showed that there is no correctly execu‐ ted delay measurement with usable measured values available.

Cause Remedy

Command "S-0-1024, C5300 SERCOS III: SYNC delay Execute command "S-0-1024, C5300 SERCOS III: SYNC measuring procedure command" was not executed or abor‐ delay measuring procedure command" and then start com‐ ted with error. mand "S-0-0127, C0100 Communication phase 3 transition check" again.

7.2.22 C0173 Connections (number) not configurable Allocation Contained in 06VRS: «HDH»

Cause Remedy

Parameterized connections in S-0-1050 cannot be realized, Arrange connections of slave better in telegram (put them because resources of SERCOS III FPGA have been excee‐ one after another). (Can only be corrected by bus master or ded. configurator.)

7.2.23 C0174 Connection configuration not allowed Allocation Contained in 06VRS: «HDH»

Cause Remedy

For a SERCOS IIIconnection, a configuration has been set "S-0-1050.x.1, SIII-Connection: Connection setup" is to be which is not supported by drive controller/firmware checked in all SERCOS IIIconnections and has to be com‐ pared to allowed configurations in Parameter Description

7.2.24 C0175 Producer cycle time of a connection not correct Allocation Contained in 06VRS: «HDH»

Cause Remedy

For a SERCOS IIIconnection, a producer cycle time has "S-0-1050.x.10, SIII-Connection: Producer cycle time" is to been set which is not supported by drive controller/firmware be checked in all SERCOS IIIconnections and has to be compared to allowed producer cycle times in Parameter De‐ scription RE30159-WA Bosch Rexroth AG 161/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.25 C0201 Invalid parameters (->S-0-0423) Allocation Contained in 06VRS: «HDH»

In firmware versions 02VRS and 03VRS, the name of the com‐ mand error is "C0201 Invalid parameters (->S-0-0022)".

02VRS / 03VRS While command "S‑0‑0128, C5200 Communication phase 4 transition check" is executed, internal variables are initialized and the available parameters are checked (e.g., for validity). An error was detected during execution of the command.

Cause Remedy

Data block elements required in communication phase 4 are Write allowed operating data to parameters affected. (Affec‐ missing or invalid ted parameters can be taken from list "S‑0‑0022, IDN-list of invalid operation data for CP3")

As of 04VRS While command "S‑0‑0422, C0200 Exit parameterization level procedure command" is executed, internal variables are initialized and the available pa‐ rameters are checked (e.g., for validity). An error was detected during execu‐ tion of the command.

Cause Remedy

Data required in operating mode is missing or invalid Write allowed operating data to parameters affected. (Re‐ spective parameters can be taken from list "S‑0‑0423, IDN- list of invalid data for parameterization levels")

For removing command errors see "Command Errors" 7.2.26 C0202 Parameter limit error (->S-0-0423) Allocation Contained in 06VRS: «HDH»

In the firmware versions 02VRS and 03VRS, the name of the command error is "C0202 Parameter limit error (->S-0-0022)".

02VRS / 03VRS While the command "S‑0‑0128, C0200 Communication phase 4 transition check" is executed, the limit values (minimum/maximum value) are checked for some parameters. An error was detected during the execution of the com‐ mand.

Cause Remedy

Parameter values required in communication phase 4 are Write allowed values to parameters (cf. min./max. value). outside of their allowed range of values (minimum or maxi‐ (Respective parameters can be taken from list "S‑0‑0022, mum value) IDN list of invalid operating data for communication phase 3")

As of 04VRS While the command "S‑0‑0422, C0200 Exit parameterization level procedure command" is executed, the limit values (minimum/maximum value) are checked for some parameters. An error was detected during the execution of the command. 162/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Parameter values required in operating mode are outside of Write allowed values to parameters (cf. min./max. value). their allowed range of values (minimum or maximum value) (Respective parameters can be taken from list "S‑0‑0423, IDN-list of invalid op. data for parameterization level")

For removing command errors see "Command Errors" 7.2.27 C0203 Parameter conversion error (->S-0-0423) Allocation Contained in 06VRS: «HDH»

In the firmware versions 02VRS and 03VRS, the name of the command error is "C0203 Parameter calculation error (- >S-0-0022)".

02VRS / 03VRS While the command "S‑0‑0128, C0200 Communication phase 4 transition check" is executed, the internal parameter formats are checked in order to ensure the internal processing. An error was detected during the execution of the command.

Cause Remedy

Parameter values required in communication phase 4 can‐ Write allowed values to parameters. (Respective parameters not be processed can be taken from list "S‑0‑0022, IDN list of invalid operating data for communication phase 3")

As of 04VRS While the command "S‑0‑0422, C0200 Exit parameterization level procedure command" is executed, the internal parameter formats are checked in order to ensure the internal processing. An error was detected during the execution of the command.

Cause Remedy

Parameter values required in operating mode cannot be pro‐ Write allowed values to parameters. (Respective parameters cessed can be taken from list "S‑0‑0423, IDN-list of invalid op. data for parameterization level")

For removing command errors see "Command Errors" 7.2.28 C0210 Feedback 2 required (->S-0-0423) Allocation Contained in 06VRS: «HDH»

Incorrect parameter setting was detected during the execution of command "S‑0‑0422, C0200 Exit parameterization level procedure command".

"S‑0‑0423, IDN-list of invalid op. data for parameterization level" contains the data which were detected to be invalid during the ex‐ ecution of command "S‑0‑0422, C0200 Exit parameterization lev‐ el procedure command". RE30159-WA Bosch Rexroth AG 163/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Bit for measuring wheel mode has been set in "P‑0‑0185, Parameterize encoder 2 in "P‑0‑0075, Encoder type 2 (op‐ Control word of encoder 2 (optional encoder)". Measuring tional encoder)" wheel mode requires second encoder which has not been ‑ or ‑ parameterized Deselect function "measuring wheel mode" in "P‑0‑0185, Control word of encoder 2 (optional encoder)" Bit for redundant motor encoder has been set in "P‑0‑0185, Parameterize encoder 2 in "P‑0‑0075, Encoder type 2 (op‐ Control word of encoder 2 (optional encoder)". Second en‐ tional encoder)" coder, however, has not been parameterized ‑ or ‑ Deselect redundant motor encoder in "P‑0‑0185, Control word of encoder 2 (optional encoder)"

7.2.29 C0212 Invalid control section data (->S-0-0423) Allocation Contained in 06VRS: «HDH»

In the firmware versions 02VRS and 03VRS, the name of the command error is "C0212 Invalid control section data (- >S-0-0022)".

02VRS / 03VRS: For HMS, HMD, HCS During the execution of the command "S‑0‑0128, C0200 Communication phase 4 transition check" an error during the initialization of the control sec‐ tion data was detected. The respective parameters are entered in the list "S‑0‑0022, IDN list of invalid operating data for communication phase 3". For HMV During the initialization of the device data an error was detected.

Cause Remedy

Reading error from I2C-Prom due to hardware defect If possible, replace hardware; otherwise contact our service department As of 04VRS: For HMS, HMD, HCS During the execution of the command "S‑0‑0422, C0200 Exit parameteriza‐ tion level procedure command" an error was detected during the initialization of the amplifier data. The respective parameters are entered in the list "S‑0‑0423, IDN-list of invalid op. data for parameterization level". For HMV During the initialization of the device data an error was detected.

Cause Remedy

Reading error from I2C-Prom due to hardware defect If possible, replace hardware; otherwise contact our service department For removing command errors see "Command Errors" 7.2.30 C0219 Max. travel range too large Allocation Contained in 06VRS: «HDH»

While the command "C0200" is executed an error with regard to the scaling of the drive was detected. 164/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

"S‑0‑0278, Maximum travel range" incorrectly parameter‐ Check and, if necessary, reduce parameterization of ized. Defined travel range is too large S‑0‑0278. Value of "S‑0‑0278, Maximum travel range" is to be selected in such a way that resulting internal position res‐ olution guarantees correct commutation of motor. Inappropriate measuring system (resolution) for maximum Check resolution of measuring system and, if necessary, travel range to be displayed use a different measuring system For removing command errors see "Command Errors" See also Functional Description of firmware "Scaling" 7.2.31 C0220 Error when initializing position of encoder 1 Allocation Contained in 06VRS: «HDH»

While command "C0200" is executed, the following checks are carried out for initializing encoder 1 (motor encoder): ● Offset between high-resolution and low-resolution track ● Communication with encoder ● Generation of position of an initialization track ● Reading of analog signals of an initialization track If the motor encoder is an HSF encoder, the following checks are additionally carried out: ● Access to angle correction data ● Pointer length of analog signals of an initialization track If one of the above checks fails, command error "C0220" is generated.

Cause Remedy

Motor encoder cable defective Check and, if necessary, replace motor encoder cable Motor encoder defective or error in micro controller of meas‐ Replace motor uring system Measuring system interface defective Have measuring system interface replaced by service de‐ partment Absolute position in relation to incremental track shifted Absolute position in relation to incremental track was shifted deliberately (as of MPx07V12, MPx06V14, MPx08): Deacti‐ vate offset monitoring (see S-0-0277) Absolute position in relation to incremental track was shifted by a defect: Check other causes mentioned For removing command errors see "Command Errors" 7.2.32 C0221 Initialization velocity encoder 1 too high Allocation Contained in 06VRS: «HDH»

During the execution of the command C0200, an error in the initialization ve‐ locity of encoder 1 (motor encoder) was detected.

Cause Remedy

Velocity for initialization of encoder 1 was too high Reduce velocity during encoder initialization [comply with ini‐ tialization velocity (encoder-related); rotary: <30 rpm, linear: 30 mm/min] RE30159-WA Bosch Rexroth AG 165/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

For removing command errors see "Command Errors" 7.2.33 C0223 Invalid settings for controller cycle times Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error in the parameteriza‐ tion of controller cycle times or PWM switching frequencies was detected. For cause and remedy see "C0132 Invalid settings for controller cycle times". 7.2.34 C0224 Error when initializing position of encoder 2 Allocation Contained in 06VRS: «HDH»

While command "C0200" is executed, the following checks are carried out for initializing encoder 2 (optional encoder): ● Offset between high-resolution and low-resolution track ● Communication with encoder ● Generation of position of an initialization track ● Reading of analog signals of an initialization track If the optional encoder is an HSF encoder, the following checks are addition‐ ally carried out: ● Access to angle correction data ● Pointer length of analog signals of an initialization track If one of the above checks fails, the command error "C0224" is generated.

Cause Remedy

Encoder cable defective Check and, if necessary, replace encoder cable Encoder defective or error in micro controller of measuring Replace encoder system Measuring system interface defective Have measuring system interface replaced by service de‐ partment Absolute position in relation to incremental track shifted Absolute position in relation to incremental track was shifted deliberately (as of MPx07V12, MPx06V14, MPx08): Deacti‐ vate offset monitoring (see S-0-0115) Absolute position in relation to incremental track was shifted by a defect: Check other causes mentioned For removing command errors see "Command Errors" 7.2.35 C0225 Initialization velocity encoder 2 too high Allocation Contained in 06VRS: «HDH»

During the execution of the command C0200, an error in the initialization ve‐ locity of encoder 2 (optional encoder) was detected.

Cause Remedy

Velocity for initialization of encoder 2 was too high Reduce velocity during encoder initialization [comply with ini‐ tialization velocity (encoder-related); rotary: <30 rpm, linear: 30 mm/min] For removing command errors see "Command Errors" 166/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.36 C0227 Error when initializing position of measuring encoder Allocation Contained in 06VRS: «HDH»

While command "C0200" is executed, the following checks are carried out for initializing the measuring encoder: ● Offset between high-resolution and low-resolution track ● Communication with encoder ● Generation of position of an initialization track ● Reading of analog signals of an initialization track If the measuring encoder is an HSF encoder, the following checks are addi‐ tionally carried out: ● Access to angle correction data ● Pointer length of analog signals of an initialization track If one of the above checks fails, the command error "C0227" is generated.

Cause Remedy

Encoder cable defective Check and, if necessary, replace encoder cable Interference caused by incorrect shielding Check and, if necessary, correct cable shielding Encoder defective or error in micro controller of measuring Replace encoder system Measuring system interface defective Have measuring system interface replaced by service de‐ partment Absolute position in relation to incremental track shifted Absolute position in relation to incremental track was shifted deliberately (as of MPx07V12, MPx06V14, MPx08): Deacti‐ vate offset monitoring (see P-0-0328) Absolute position in relation to incremental track was shifted by a defect: Check other causes mentioned For removing command errors see "Command Errors" 7.2.37 C0228 Initialization velocity measuring encoder too high Allocation Contained in 06VRS: «HDH»

During the execution of the command C0200, an error in the initialization ve‐ locity of the measuring encoder was detected.

Cause Remedy

Velocity for initialization of measuring encoder was too high Reduce velocity during encoder initialization [comply with ini‐ tialization velocity (encoder-related); rotary: <30 rpm, linear: 30 mm/min] For removing command errors see "Command Errors" 7.2.38 C0229 Field bus: IDN for cycl. command val. not configurable Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error with regard to the telegram configuration of master communication was detected. RE30159-WA Bosch Rexroth AG 167/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

In operating data of "P‑0‑4081, Field bus: config. list of cyclic In "P‑0‑4081, Field bus: config. list of cyclic command value command value data ch." there is an IDN that is not con‐ data ch." enter allowed IDN (cf. "S‑0‑0188, List of configura‐ tained in "S‑0‑0188, List of configurable data in the MDT" ble data in the MDT") For removing command errors see "Command Errors" 7.2.39 C0230 Field bus: Max. length for cycl. command val. exceeded Allocation Contained in 06VRS: «HDH»

While command "C0200" is executed, an error with regard to the axis-specific telegram configuration of a local axis of master communication was detected.

Cause Remedy

Sum of data widths of all IDNs entered in "P‑0‑4081, Field Reduce number of IDNs entered in "P‑0‑4081, Field bus: bus: Config. list of cyclic command value data ch." ex‐ Config. list of cyclic command value data ch." ceeds maximum value

7.2.40 C0231 Field bus: IDN for cycl. actual val. not configurable Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error with regard to the telegram configuration of master communication was detected.

Cause Remedy

In operating data of "P‑0‑4080, Field bus: config. list of cyclic In "P‑0‑4080, Field bus: config. list of cyclic command value command value data ch." there is an IDN that is not con‐ data ch." enter allowed IDNs (cf. "S‑0‑0187, List of configu‐ tained in "S‑0‑0187, List of configurable data in the AT" rable data in the AT")

List parameters are only allowed in the multiplex channel.

For removing command errors see "Command Errors" 7.2.41 C0232 Field bus: Length for cycl. actual values exceeded Allocation Contained in 06VRS: «HDH»

While command "C0200 Exit parameterization level procedure command" is executed, an error with regard to the axis-specific telegram configuration of a local axis of master communication was detected.

Cause Remedy

Sum of data widths of all IDNs entered in "P‑0‑4080, Field Reduce number of IDNs entered in "P‑0‑4080, Field bus: bus: Config. list of cyclic command actual data ch." exceeds Config. list of cyclic actual value data ch." maximum value

7.2.42 C0233 Field bus: Tcyc (P-0-4076) incorrect Allocation Contained in 06VRS: «HDH» 168/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

While command C0200 was executed, error in parameteri‐ Observe allowed input values (minimum/maximum values) zation of P-0-4076 was detected. of "P‑0‑4076, Field bus: Field bus: Process data - updating clock"; step size of allowed input values: 1 ms For removing command errors see "Command Errors" 7.2.43 C0234 Field bus: P-0-4077 missing for cycl. command values Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error with regard to the telegram configuration of master communication was detected.

Cause Remedy

Operating data of "P‑0‑4081, Field bus: config. list of cyclic According to profile type configure one of both control words command value data ch." contains neither "P‑0‑4077, Field in "P‑0‑4081, Field bus: config. list of cyclic command value bus: control word" nor "P‑0‑4068, Field bus: control word data ch." IO". At least one control word has to be contained For removing command errors see "Command Errors" 7.2.44 C0238 Order of cyclic command value configuration incorrect Allocation Contained in 06VRS: «HDH»

The cyclic command value data in the drive is processed chronologically in the order in which the configured IDNs have been entered in the list of cyclic command values. The following parameters are available for using multiplex mode in the cyclic command value telegram: ● S‑0‑0360, Data container A: command value 1, ● S‑0‑0362, Data container A: list index command values and ● S‑0‑0368, Data container A: Addressing If more of these parameters than one are configured in the cyclic command value telegram, their correct order is checked in command "S‑0‑0128, C5200 Communication phase 4 transition check" (02VRS / 03VRS) or "S‑0‑0422, C0200 Exit parameterization level procedure command" (as of 04VRS).

Cause Remedy

Incorrect order of relevant parameters in cyclic command Observe correct order of parameters in cyclic command val‐ value telegram ue telegram: Parameters S‑0‑0362, S‑0‑0366 and S‑0‑0368 must pre‐ cede parameters S‑0‑0360 and S‑0‑0450 to S‑0‑0456 in cy‐ clic command value telegram See also Functional Description of firmware "Multiplex Channel" 7.2.45 C0239 IDN for command value data container not allowed Allocation Contained in 06VRS: «HDH»

During the execution of command "S‑0‑0128, C0200 Communication phase 4 transition check" (02VRS / 03VRS) or "S‑0‑0422, C0200 Exit parameteriza‐ tion level procedure command" (as of 04VRS), an error with regard to the command value configuration list was detected. RE30159-WA Bosch Rexroth AG 169/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

A command value configuration list (S‑0‑0370 and S‑0‑0490 Check parameters "S‑0‑0370, Data container A: configura‐ to S‑0‑0496) contains one or several IDNs that aren't exist‐ tion list command value-1" and "S‑0‑0490, Data container A: ing or not contained in "S‑0‑0188, List of configurable data in configuration list command value 2" to "S‑0‑0496, Data con‐ the MDT" tainer A: configuration list command value 8" for incorrect IDNs and correct them For removing command errors see "Command Errors" See also Functional Description of firmware "Multiplex Channel" 7.2.46 C0240 IDN for actual value data container not allowed Allocation Contained in 06VRS: «HDH»

Cause Remedy

An actual value configuration list (S‑0‑0371 and S‑0‑0500 to Check parameters "S‑0‑0371, Data container A: configura‐ S‑0‑0506) contains one or several IDNs that aren't existing tion list feedback value-1" and "S‑0‑0500, Data container A: or not contained in "S‑0‑0187, List of configurable data in the configuration list feedback value 2" to "S‑0‑0506, Data con‐ AT" tainer A: configuration list feedback value 8" for incorrect IDNs and correct them For removing command errors see "Command Errors" See also Functional Description of firmware "Multiplex Channel" 7.2.47 C0242 Multiple configuration of a parameter (->S-0-0423) Allocation Contained in 06VRS: «HDH»

In the firmware versions 02VRS and 03VRS, the name of the command error is "C0242 Multiple configuration of a parameter (- >S-0-0022)".

02VRS / 03VRS During the execution of the command "S‑0‑0128, C0200 Communication phase 4 transition check" an error was detected.

Cause Remedy

For a double-axis device, a device-specific function has Read IDNs entered in "S‑0‑0022, IDN list of invalid operating been activated in both axes (e.g. position switch activated in data for communication phase 3" to find out function activa‐ both axes or encoder emulation activated in both axes) ted in both axes. Then deactivate function in one of both ax‐ es For cyclic parameter write, a parameter was simultaneously Read IDNs entered in "S‑0‑0022, IDN list of invalid operating configured in different interfaces. It is impossible, however, data for communication phase 3" to detect and remove mul‐ to simultaneously write data to same parameter from differ‐ tiple configuration. ent interfaces. Note: "Interfaces" means as well analog and digital inputs as complete bus systems. 170/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Each multiple configuration/each conflict is listed in parameter "S‑0‑0022, IDN list of invalid operating data for communication phase 3" and displayed in the following form: ● The 1st entry contains the IDN of the parameter that was configured in a multiple way. ● The subsequent entries contain the IDNs of the parameters in which the multiple-configuration parameter was configured for cyclic parameter write. ● Up to 5 entries are displayed. ● In the IDN list, each conflict is concluded by the IDN S‑0‑0000. If several conflicts occur at the same time, they are displayed one after the other in "S‑0‑0022, IDN list of in‐ valid operating data for communication phase 3", being sep‐ arated by the IDN S‑0‑0000.

For each conflict, the configurations of the involved interfaces have to be modified in such a way that only one interface writes data to a parameter. As of 04VRS During the execution of the command "S‑0‑0422, C0200 Exit parameteriza‐ tion level procedure command" an error was detected.

Cause Remedy

For a double-axis device, a device-specific function has Read IDNs entered in "S‑0‑0423, IDN-list of invalid op. data been activated in both axes (e.g. position switch activated in for parameterization level" to find out function activated in both axes or encoder emulation activated in both axes) both axes. Then deactivate function in one of both axes For cyclic parameter write, a parameter was simultaneously Read IDNs entered in "S‑0‑0423, IDN-list of invalid op. data configured in different interfaces. It is impossible, however, for parameterization level" to detect and remove multiple to simultaneously write data to same parameter from differ‐ configuration. ent interfaces. Note: "Interfaces" means as well analog and digital inputs as complete bus systems.

Each multiple configuration/each conflict is listed in parameter "S‑0‑0423, IDN-list of invalid op. data for parameterization level" and displayed in the following form: ● The 1st entry contains the IDN of the parameter that was configured in a multiple way. ● The subsequent entries contain the IDNs of the parameters in which the multiple-configuration parameter was configured for cyclic parameter write. ● Up to 5 entries are displayed. ● In the IDN list, each conflict is concluded by the IDN S‑0‑0000. If several conflicts occur at the same time, they are displayed one after the other in "S‑0‑0423, IDN-list of in‐ valid op. data for parameterization level", being separated by the IDN S‑0‑0000.

For each conflict, the configurations of the involved interfaces have to be modified in such a way that only one interface writes data to a parameter. For removing command errors see "Command Errors" RE30159-WA Bosch Rexroth AG 171/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.48 C0243 Brake check function not possible Allocation Contained in 06VRS: «HDH»

Automatic brake control has been selected/activated in parameter "P‑0‑0525, Holding brake control word". An error occurred during initialization of the function.

Cause Remedy

Holding brake is not controlled Activate holding brake control in parameter "P‑0‑0525, Holding brake control word" "P‑0‑0540, Torque of motor holding brake" is too low Parameterize "P‑0‑0540, Torque of motor holding brake" correctly by means of data sheet of brake or motor.

For removing command errors see "Command Errors" 7.2.49 C0244 Act. modulo value cycle greater than max. travel range Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error was detected.

Cause Remedy

Calculated modulo value for actual value cycle is greater Check parameterization of "S‑0‑0278, Maximum travel than value parameterized in "S‑0‑0278, Maximum travel range" and if necessary adjust it to modulo value for actual range" value cycle – or – Check parameterization of modulo value for actual value cy‐ cle and adjust it to "S‑0‑0278, Maximum travel range" For removing command errors see "Command Errors" 7.2.50 C0245 Operation mode configuration (->S-0-0423) not allowed Allocation Contained in 06VRS: «HDH»

In the firmware versions 02VRS and 03VRS, the name of the command error is "C0245 Operating mode configuration (- >S-0-0022) not allowed".

02VRS / 03VRS During the execution of the command "S‑0‑0128, C0200 Communication phase 4 transition check" an invalid operating mode configuration was detec‐ ted. In the operating mode parameters, it is not allowed to parameterize synchro‐ nization modes with outer position control loop (phase synchronization or electronic cam shaft) with different control encoders. Operating mode parameters: ● S‑0‑0032, Primary mode of operation, ● S‑0‑0033, Secondary operation mode 1, ● S‑0‑0034, Secondary operation mode 2, ● S‑0‑0035, Secondary operation mode 3, 172/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

● etc.

Cause Remedy

Operating mode configuration is invalid (phase synchroniza‐ Parameter contents of operating mode parameters have to tion or electronic cam shaft with different control encoders) be changed is such a way that invalid operating mode con‐ figuration no longer occurs (respective operating mode pa‐ rameters are listed in "S‑0‑0022, IDN list of invalid operating data for communication phase 3") An operating mode was configured for control with encod‐ Select control with encoder 1 (motor encoder) or connect er 2; but encoder 2 does not exist or interface has not been encoder 2 and assign interface ("P‑0‑0078, Assignment op‐ assigned tional encoder ->optional slot")

If several operating modes are invalid, only the first operating mode found is entered in "S‑0‑0022, IDN list of invalid operating data for communication phase 3". As of 04VRS During the execution of the command "S‑0‑0422, C0200 Exit parameteriza‐ tion level procedure command" an invalid operating mode configuration was detected. In the operating mode parameters, it is not allowed to parameterize synchro‐ nization modes with outer position control loop (phase synchronization or electronic cam shaft) with different control encoders. Operating mode parameters: ● S‑0‑0032, Primary mode of operation, ● S‑0‑0033, Secondary operation mode 1, ● S‑0‑0034, Secondary operation mode 2, ● S‑0‑0035, Secondary operation mode 3, ● etc.

Cause Remedy

Operating mode configuration is invalid (phase synchroniza‐ Parameter contents of operating mode parameters have to tion or electronic cam shaft with different control encoders) be changed is such a way that invalid operating mode con‐ figuration no longer occurs (respective operating mode pa‐ rameters are listed in "S‑0‑0423, IDN-list of invalid op. data for parameterization level") An operating mode was configured for control with encod‐ Select control with encoder 1 (motor encoder) or connect er 2; but encoder 2 does not exist or interface has not been encoder 2 and assign interface ("P‑0‑0078, Assignment op‐ assigned tional encoder ->optional slot")

If several operating modes are invalid, only the first operating mode found is entered in "S‑0‑0423, IDN-list of invalid op. data for parameterization level". See also Functional Description of firmware "Measuring Systems" For removing command errors see "Command Errors" 7.2.51 C0246 Trav. range lim. switch not ass. to dig. input Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" the configuration of the digital inputs with activated travel range limit switches is checked in order to ensure RE30159-WA Bosch Rexroth AG 173/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

the function of the travel range limit switches that are relevant for machine safety.

Cause Remedy

Travel range limit switches +/‑ have been activated in Assign travel range limit switches to digital inputs via "P‑0‑0090, Travel range limit parameter" but not assigned to "P‑0‑0300, Digital I/Os, assignment list" any digital input Travel range limit switches +/‑ have been unintentionally ac‐ Deactivate travel range limit switches +/‑ in "P‑0‑0090, Trav‐ tivated in "P‑0‑0090, Travel range limit parameter" el range limit parameter" For removing command errors see "Command Errors" See also Functional Description of firmware "Digital Inputs/Outputs" See also Functional Description of firmware "Position Limitation/Travel Range Limit Switch" 7.2.52 C0247 Dig. output already assigned to other axis Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" digital outputs were detected to have been configured more than once.

Cause Remedy

In the case of a double-axis device (HMD01.1), a digital out‐ Check parameterization of "P‑0‑0300, Digital I/Os, assign‐ put is used by both axes ment list" in both axes and change it in at least one axis For removing command errors see "Command Errors" See also Functional Description of firmware "Digital Inputs/Outputs" 7.2.53 C0248 Dig. input assigned differently to axes Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200", the configuration of the avail‐ able digital inputs is checked with regard to inconsistent double assignment.

Cause Remedy

In the case of a double-axis device (HMD01.1), a digital in‐ Check parameterization of "P‑0‑0300, Digital I/Os, assign‐ put was parameterized by both axes with different IDN ment list" or "P‑0‑0301, Digital I/Os, bit numbers" in both ax‐ ("P‑0‑0300, Digital I/Os, assignment list") or bit number es of double-axis device and change it in at least one axis ("P‑0‑0301, Digital I/Os, bit numbers") For removing command errors see "Command Errors" See also Functional Description of firmware "Digital Inputs/Outputs" 7.2.54 C0249 Dig. I/Os: Bit number too large Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200", the configuration of the digital I/Os is checked with regard to the configured bit numbers.

Cause Remedy

Bit number ("P‑0‑0301, Digital I/Os, bit numbers") for an as‐ Check parameterization of "P‑0‑0300, Digital I/Os, assign‐ signed IDN ("P‑0‑0300, Digital I/Os, assignment list") is not ment list" and "P‑0‑0301, Digital I/Os, bit numbers" and ad‐ available (e.g. bit number 25 but IDN only 2 bytes long) just "P‑0‑0301, Digital I/Os, bit numbers" to data format of corresponding IDN 174/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

For removing command errors see "Command Errors" 7.2.55 C0250 Probe inputs incorrectly configured Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error was detected.

Cause Remedy

At least one of both probes was activated in "S‑0‑0169, Assign probes to digital inputs via "P‑0‑0300, Digital I/Os, Probe control parameter" but not assigned to any digital in‐ assignment list", "P‑0‑0301, Digital I/Os, bit numbers" and put "P‑0‑0302, Digital I/Os, direction" Probes were accidentally activated Deactivate probes in "S‑0‑0169, Probe control parameter" See also Functional Description of firmware "Digital Inputs/Outputs" See also Functional Description of firmware "Probe Function" 7.2.56 C0251 Error during synchronization to master communication Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" the drive checks whether the drive control is synchronized to the bus interface (SERCOS, Profibus, Inter‐ bus,…) via two phase control loops. The synchronization process must have been completed until the end of the command. If not, this error message is generated.

Cause Remedy

Hardware defect on control section Replace control section or entire drive controller

For removing command errors see "Command Errors" See also Functional Description of firmware "Master Communication" 7.2.57 C0253 Error in combination operation mode - encoder (->S-0-0423) Allocation Contained in 06VRS: «HDH»

During the check of operating mode and encoder an error occurred.

"S‑0‑0423, IDN-list of invalid op. data for parameterization level" contains the faulty parameter. RE30159-WA Bosch Rexroth AG 175/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Operating modes were parameterized which obligatorily re‐ Correct settings for primary mode of operation and secon‐ quire an optional encoder or operating modes were parame‐ dary oper. modes (S‑0‑0032 to S‑0‑0035 and S‑0‑0284 to terized for which a certain encoder mustn't be set S‑0‑0287) - or - "P‑0‑0077, Assignment motor encoder->optional slot" and "P‑0‑0078, Assignment optional encoder ->optional slot" - and - check motor control which was set (U/f, FXC, FOC) (see Functional Description of firmware "Motor Control")

7.2.58 C0254 Configuration error PROFIsafe Allocation Contained in 06VRS: «HDH»

When PROFIsafe was configured, a check is run during the execution of the command "C0200" to find out whether the conditions for successful operation have been fulfilled.

Cause Remedy

PROFIsafe was accidentally activated Deactivate PROFIsafe (write zero to "P‑0‑3290, PROFIsafe: F_Destination_Address") Control section doesn't have Profibus master communication Replace control section; use correct hardware configuration Due to hardware error, Profibus master communication Replace control section or entire drive controller; use hard‐ wasn't recognized during initialization of control section ware configuration of same type

Only Rexroth service engineers or especially trained users are al‐ lowed to replace the control section. The replacement of the en‐ tire drive controller is described in the Project Planning Manual for the power section. Only Rexroth service engineers are allowed to replace optional modules of the control section (e.g. optional encoder module).

For removing command errors see "Command Errors" 7.2.59 C0255 Safety command for system init. incorrect Allocation Contained in 06VRS: «HDH»

While command "C0200" was executed, an error was detected during check of the safety technology configuration. 1. Read error code entered in "P‑0‑3219, Extended safety technology diagnosis". 2. Based on the command error codes (here: C0255) and the error code in P-0-3219, information about the error cause and/or error location is pro‐ vided as follows: ● Up to MPx06: "Extended Diagnosis (P‑0‑3219)". ● As of MPx07: "Extended Diagnosis (P‑0‑3219) as of MPx07". For removing command errors see "Command Errors" 176/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.60 C0256 Safety technology configuration error Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error was detected during checks of the safety technology configuration.

Cause Remedy

For the cause, please see parameter "P-0-3219, Diagnostic Remove cause of error safety technology message". For removing command errors see "Command Errors" 7.2.61 C0257 Error in safety technology encoder initialization Allocation Contained in 06VRS: «HDH»

In firmware versions 02VRS, 03VRS and 04VRS, the name of the command error is "C0257 No encoder assigned to slot 1".

While command "C0200" was executed, an error was detected during encod‐ er-related safety technology initialization.

Cause Remedy

There is no encoder plugged in optional slot X4 (X4.1 and Remove cause of error X4.2 in double-axis device) Encoder plugged in optional slot X4 (X4.1 and X4.2 in dou‐ Remove cause of error ble axis-device) is not configured because either encoder type (P‑0‑0074, P‑0‑0075) or encoder assignment (P‑0‑0077, P‑0‑0078) is "0". Encoder plugged in optional slot X4 (X4.1 and X4.2 in dou‐ Remove cause of error ble-axis device) is not allowed See also documentation "Integrated Safety Technology", in‐ dex entry "Requirements of safety technology, measuring system"

When using the optional module "safety technology I/O" (S1) (up to MPx06) or "Safe Motion" (S2) (as of MPx07), you can, in addi‐ tion to the error message, obtain detailed information with regard to the cause of the error or the error location. For this purpose, evaluate parameter "P-0-3219, Diagnostic safety technology message". Up to MPx06: See "Extended Diagnosis (P‑0‑3219)". As of MPx07: See "Extended Diagnosis (P‑0‑3219) as of MPx07".

For removing command errors see "Command Errors" 7.2.62 C0258 Error in relation TNcyc (S-0-0001) to fine interpol. Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200", a check is run, when the cu‐ bic fine interpolator or the interpolator according to contour ("P‑0‑0187, Posi‐ tion command processing mode" = "1" or "2") is used, to find out whether the selected NC cycle time is supported by the respective fine interpolator. RE30159-WA Bosch Rexroth AG 177/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

"S‑0‑0001, NC cycle time (TNcyc)" incorrectly parameterized Select appropriate "S‑0‑0001, NC cycle time (TNcyc)". Allowed NC cycle times, when using cubic fine interpolator or fine interpolator according to contour, depend on relation of NC cycle time (S-0-0001) and position loop clock (P-0-0556, Control word of axis controller). Allowed clock relations: ● From 1 to 8 in steps of one ● From 10 to 16 in steps of two ● From 20 to 32 in steps of four Example [allowed NC cycle times with Advanced perform‐ ance (position loop clock=250 µs)]: ● 250 µs to 2000 µs ● 2500 µs to 4000 µs ● 5000 µs to 8000 µs Cubic fine interpolation or fine interpolation according to Use linear fine interpolator ("P‑0‑0187, Position command contour cannot be used with present NC cycle time processing mode" = "0") ("S‑0‑0001, NC cycle time (TNcyc)") For removing command errors see "Command Errors" 7.2.63 C0259 MLD configuration error (->S-0-0423) Allocation Contained in 06VRS: «HDH»

The execution of the command "C0200" (switching from parameter mode to operating mode) was impeded due to an incorrect MLD configuration.

In S-0-0423 , the incorrectly configured parameters are listed.

Cause Remedy

In "P-0-1367, PLC configuration" , permanent control was (Local) axis can be controlled either via field bus set, but in "P-0-4084, Field bus: profile type" the "operating (P-0-4084=FFFE) or via MLD (P-0-1367, bit 4=1); it is im‐ mode neutral" profile was not set (P-0-4084=FFFD) possible to have both settings at the same time In "P-0-1367, PLC configuration" , "boot project on MMC" To store boot project on an MMC, the MMC must be perma‐ was set, but in "P-0-4070, Parameter storage configuration" nently available and in P-0-4070 you must have set "programming module mode" was not set "programming module mode"; otherwise, boot project cannot be stored on an MMC, but only in PLC parameters For removing command errors see "Command Errors" 7.2.64 C0260 Incremental enc. emulator resol. cannot be displayed Allocation Contained in 06VRS: «HDH»

In the case of incremental encoder emulation, inadmissible overflow can oc‐ cur for increment output. In order to avoid this overflow, "P‑0‑0903, Encoder emulation resolution" has to be parameterized accordingly. In the case of modulo processing, the overflow takes place at the modulo val‐ ue entered in "S‑0‑0103, Modulo value": 178/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

S-0-0103 "S‑0‑0103, Modulo value" P-0-0903 "P‑0‑0903, Encoder emulation resolution" S-0-0079 "S‑0‑0079, Rotational position resolution" Fig.7-3: Overflow in the case of modulo processing Otherwise, the overflow takes place at the value entered in "S‑0‑0278, Maxi‐ mum travel range":

P-0-0903 "P‑0‑0903, Encoder emulation resolution" S-0-0079 "S‑0‑0079, Rotational position resolution" S-0-0278 "S‑0‑0278, Maximum travel range" Fig.7-4: Overflow in case of maximum travel range

Cause Remedy

Resolution of emulated signal does not match modulo Reduce resolution entered in "P‑0‑0901.0.3, Encoder emula‐ range / travel range tion resolution" ‑ or ‑ Reduce "S‑0‑0278, Maximum travel range" See also Functional Description of firmware "Incremental Encoder Emulation" 7.2.65 C0270 Error when reading encoder data => motor encoder Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error during the reading of the encoder data from the data memory of the motor encoder was detected.

Measuring systems with their own data memory are DSF/HSF and resolvers, as well as measuring systems with EnDat interface (Heidenhain company) and HIPERFACE® interface (Stegmann company).

Cause Remedy

Measuring system cable defective Check measuring system cable Measuring system defective Replace measuring system Encoder interface defective Replace control section or entire drive controller

Only Rexroth service engineers or especially trained users are al‐ lowed to replace the control section. The replacement of the en‐ tire drive controller is described in the Project Planning Manual for the power section. 7.2.66 C0271 Incorrect parameterization of motor encoder (hardware) Allocation Contained in 06VRS: «HDH» RE30159-WA Bosch Rexroth AG 179/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

During the execution of the command "C0200" an error with regard to the pa‐ rameterization of the motor encoder hardware was detected.

Cause Remedy

Parameterization "P‑0‑0074, Encoder type 1 (motor encod‐ Check whether parameterized encoder type matches inter‐ er)" does not match interface card (e.g. EN1 with EnDat en‐ face card that has been plugged in coder) In the case of "current control with motor encoder" (see Enter value appropriate for motor encoder in "P‑0‑0074, En‐ "P‑0‑0045, Control word of current controller"), "operation coder type 1 (motor encoder)" without encoder" was detected to have been set in "P‑0‑0074, Encoder type 1 (motor encoder)" Parameterization in "P‑0‑0077, Assignment motor encod‐ Correct assignment of motor encoder and optional slot in pa‐ er‑>optional slot" is incorrect rameter "P‑0‑0077, Assignment motor encoder‑>optional slot"

7.2.67 C0272 Incorr. parameteriz. of motor enc. (mechanical system) Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error was detected with re‐ gard to the scaling that has been set and the selected motor encoder type (e.g. rotary scaling with linear motor).

Cause Remedy

Incorrect encoder type ("S‑0‑0277, Position feedback 1 Check and, if necessary, correct "S‑0‑0277, Position feed‐ type") back 1 type" Parameterized scaling ("S‑0‑0076, Position data scaling Check and, if necessary, correct "S‑0‑0076, Position data type") is incorrect scaling type" Parameterized type of construction of motor ("P‑0‑4014, Correct "P‑0‑4014, Type of construction of motor" Type of construction of motor") is not correct Maximum travel range ("S‑0‑0278, Maximum travel range") Make input greater than "0" for "S‑0‑0278, Maximum travel was incorrectly input range" For removing command errors see "Command Errors" 7.2.68 C0273 Modulo value for motor encoder cannot be displayed Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error with regard to the modulo value for the motor encoder was detected.

Cause Remedy

Parameterized value for "S‑0‑0103, Modulo value" is greater Correct content of "S‑0‑0103, Modulo value" or value of than maximum travel range (cf. "S‑0‑0278, Maximum travel "S‑0‑0278, Maximum travel range" range") Parameterized value for "S‑0‑0103, Modulo value" cannot Correct content of "S‑0‑0103, Modulo value" or gear ratios be internally displayed with gear ratios that have been set that have been set ["S‑0‑0121, Input revolutions of load (S‑0‑0121/S‑0‑0122, P‑0‑0121/P‑0‑0122) gear"/"S‑0‑0122, Output revolutions of load gear"; "P‑0‑0121, Gear 1 motor-side (motor encoder)"/"P‑0‑0122, Gear 1 encoder-side (motor encoder)"] For removing command errors see "Command Errors" 180/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.69 C0274 Motor encoder unknown Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error with regard to the motor encoder was detected. The content of "P‑0‑1000, Kind of encoder 1, encoder memory" is invalid and therefore the parameterized motor encoder is not allowed (e.g. rotary scaling with linear encoder).

Cause Remedy

Encoder memory (feedback) is defective Encoder (or motor) must be replaced Kind of motor encoder ("P‑0‑1000, Kind of encoder 1, en‐ Check content of "P‑0‑1000, Kind of encoder 1, encoder coder memory") is not supported by the firmware memory" and contact our service department Detected kind of encoder does not match parameterized Check control section configuration and, if necessary, re‐ type of encoder place control section by a correctly configured control sec‐ tion or replace complete drive controller

For removing command errors see "Command Errors" 7.2.70 C0275 Error when reading encoder data => optional encoder Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error during the reading of the encoder data from the data memory of the optional encoder was detec‐ ted.

Measuring systems with their own data memory are DSF/HSF and resolvers, as well as measuring systems with EnDat interface (Heidenhain company) and HIPERFACE® interface (Stegmann company).

Cause Remedy

Measuring system cable defective Check measuring system cable Measuring system defective Replace measuring system Encoder interface defective Replace control section or entire drive controller

Only Rexroth service engineers or especially trained users are al‐ lowed to replace the control section. The replacement of the en‐ tire drive controller is described in the Project Planning Manual for the power section. 7.2.71 C0276 Incorrect parameterization of optional enc. (hardware) Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error with regard to the pa‐ rameterization of the hardware of the optional encoder was detected. RE30159-WA Bosch Rexroth AG 181/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Parameterization "P‑0‑0075, Encoder type 2 (optional en‐ Correct parameterization of "P‑0‑0075, Encoder type 2 (op‐ coder)" does not match encoder interface (e.g. EN1 with En‐ tional encoder)" Dat encoder) "P‑0‑0078, Assignment optional encoder‑>optional slot" in‐ Correct parameterization of "P‑0‑0078, Assignment optional correct encoder‑>optional slot" See also Functional Description of firmware "Measurement Systems" 7.2.72 C0277 Incorr. parameteriz. of opt. enc. (mechanical system) Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error was detected with re‐ gard to scaling that was set and the selected motor encoder type (e.g. rotary scaling with linear optional encoder).

Cause Remedy

Incorrect encoder type ("S‑0‑0115, Position feedback 2 Check and, if necessary, correct "S‑0‑0115, Position feed‐ type") back 2 type" Parameterized scaling ("S‑0‑0076, Position data scaling Check and, if necessary, correct "S‑0‑0076, Position data type") is incorrect scaling type" For removing command errors see "Command Errors" 7.2.73 C0278 Modulo value for optional encoder cannot be displayed Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error with regard to the modulo value for the optional encoder was detected.

Cause Remedy

Parameterized value for "S‑0‑0103, Modulo value" is greater Correct content of "S‑0‑0103, Modulo value" or value of than maximum travel range (cf. "S‑0‑0278, Maximum travel S‑0‑0278, Maximum travel range" range") Parameterized value for "S‑0‑0103, Modulo value" cannot Correct content of "S‑0‑0103, Modulo value" or gear ratios be internally displayed with gear ratios that have been set that have been set ["S‑0‑0121, Input revolutions of load (S‑0‑0121/S‑0‑0122, P‑0‑0121/P‑0‑0122) gear"/"S‑0‑0122, Output revolutions of load gear"; "P‑0‑0121, Gear 1 motor-side (motor encoder)"/"P‑0‑0122, Gear 1 encoder-side (motor encoder)"] Encoder resolution ("S‑0‑0117, Feedback 2 Resolution") in‐ Check and, if necessary, correct parameterization of correctly parameterized "S‑0‑0117, Feedback 2 Resolution" Resolution of encoder does not match required modulo Replace encoder range For removing command errors see "Command Errors" See also Functional Description of firmware "Scaling" 7.2.74 C0279 Optional encoder unknown Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error with regard to the op‐ tional encoder was detected. The content of "P‑0‑1010, Kind of encoder 2, encoder memory" is invalid and therefore the parameterized optional encoder is not allowed (e.g. rotary scaling with linear encoder). 182/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Encoder memory (feedback) is defective Encoder must be replaced Kind of motor encoder ("P‑0‑1010, Kind of encoder 2, en‐ Check content of "P‑0‑1010, Kind of encoder 2, encoder coder memory") is not supported by firmware memory" and contact our service department Detected kind of encoder does not match parameterized Check control section configuration and, if necessary, re‐ type of encoder place control section by a correctly configured control sec‐ tion or replace complete drive controller

For removing command errors see "Command Errors" 7.2.75 C0280 Maximum travel range cannot be displayed internally Allocation Contained in 06VRS: «HDH»

In the case of absolute scaling, the maximum travel range represents the overflow limit of the actual position values. If this travel range cannot be dis‐ played correctly internally so that position generation without error is impossi‐ ble, this error is generated.

Cause Remedy

"S‑0‑0278, Maximum travel range" incorrectly parameterized Check and if necessary reduce "S‑0‑0278, Maximum travel range" S‑0‑0116 / S‑0‑0117 incorrectly set (e.g. value "0") Check and if necessary correct "S‑0‑0116, Feedback 1 Res‐ olution" / "S‑0‑0117, Feedback 2 Resolution" Value for "S‑0‑0278, Maximum travel range" is invalid al‐ Check "S‑0‑0278, Maximum travel range" and if necessary though it might be within the respective absolute encoder change value (take respective absolute encoder range into range account!) Position resolution of a pole pair or of pole pair distance is "P‑0‑0018, Number of pole pairs/pole pair distance" has val‐ too low. Commutation offset value internally cannot be dis‐ ue "0" or a too small value (maybe incorrect unit). Check played precisely enough and if necessary correct "P‑0‑0018, Number of pole pairs/ pole pair distance" See also Functional Description of firmware "Scaling" For removing command errors see "Command Errors" 7.2.76 C0281 Commutation via encoder-2 impossible Allocation Contained in 06VRS: «HDH»

Commutation or commutation initialization via encoder 2 is impossible.

Cause Remedy

Parameterized mechanical system does not allow unequivo‐ ● Reduce maximum travel range ("S‑0‑0278, Maximum cal commutation via optional measuring system travel range") ● Adjust gear ("S‑0‑0121, Input revolutions of load gear"; "S‑0‑0122, Output revolutions of load gear"; ...) ● Use appropriate encoder (e.g. multi-turn) RE30159-WA Bosch Rexroth AG 183/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.77 C0282 Sensorless posit. of synchr. motors, invalid ctrl parameters Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0422, C0200 Exit parameterization level procedure command" an error was detected in the pa‐ rameterization of sensorless positioning of synchronous motors.

Cause Remedy

Sensorless positioning of synchronous motors was incor‐ Use parameter file made available by Bosch Rexroth rectly parameterized Incorrect motor control mode was parameterized Check parameters P‑0‑0045, P‑0‑4014 and P‑0‑0074 Parameter file made available by Bosch Rexroth is defective Please contact our service department

7.2.78 C0283 Error during initialization of motor control (->S-0-0423) Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0422, C0200 Exit parameteriza‐ tion level procedure command" or "S‑0‑0128, C5200 Communication phase 4 transition check" an error was detected. During the command, the following parameters are checked for consistency: ● P-0-0045, Control word of current controller ● P-0-0074, Encoder type 1 (motor encoder) ● P-0-4014, Type of construction of motor ● P-0-3980, FOCsl: configuration word ● P-0-2003, Selection of functional packages

If inconsistencies in the parameter setting are detected, the pa‐ rameters are entered in parameter "S‑0‑0423, IDN-list of invalid op. data for parameterization level".

Cause Remedy

An error was detected during adjust of type of construction Check and correct parameters in "S‑0‑0423, IDN-list of inva‐ of motor, encoder type, kind of current control lid op. data for parameterization level" An error was detected in enabling of functional packages There was an attempt to activate sensorless positioning of synchronous motors in functional package open-loop. Check and correct parameters in "S‑0‑0423, IDN-list of inva‐ lid op. data for parameterization level" For removing command errors see "Command Errors" 7.2.79 C0284 Invalid motor data in encoder memory (->S-0-0423) Allocation Contained in 06VRS: «HDH»

In the firmware versions 02VRS and 03VRS, the name of the command error is "C0284 Invalid motor data in encoder memory (->S-0-0022)".

02VRS / 03VRS During the transition check from communication phase 3 to communication phase 4 (C0200) an error during the reading of the motor data from the data memory of the motor encoder was detected. 184/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

The respective parameters are entered in "S‑0‑0022, IDN list of invalid ope‐ rating data for communication phase 3".

Cause Remedy

Measuring system cable defective Replace measuring system cable Measuring system defective Replace measuring system Encoder interface defective Replace control section or entire drive controller

Only Rexroth service engineers or especially trained users are al‐ lowed to replace the control section. The replacement of the en‐ tire drive controller is described in the Project Planning Manual for the power section. As of 04VRS During the execution of the command "C0200" an error during the reading of the motor data from the data memory of the motor encoder was detected The respective parameters are entered in parameter "S‑0‑0423, IDN-list of in‐ valid op. data for parameterization level".

Cause Remedy

Measuring system cable defective Replace measuring system cable Measuring system defective Replace measuring system Encoder interface defective Replace control section or entire drive controller

Only Rexroth service engineers or especially trained users are al‐ lowed to replace the control section. The replacement of the en‐ tire drive controller is described in the Project Planning Manual for the power section. For removing command errors see "Command Errors" 7.2.80 C0285 Type of construction of motor P-0-4014 incorrect Allocation Contained in 06VRS: «HDH»

02VRS / 03VRS During the execution of the command "S‑0‑0128, C0200 Communication phase 4 transition check" an error was detected in "P‑0‑4014, Type of con‐ struction of motor".

The respective parameter is entered in "S‑0‑0022, IDN list of in‐ valid operating data for communication phase 3".

Cause Remedy

A motor without encoder data memory was connected Parameterize "P‑x‑4014, Type of construction of motor" cor‐ rectly or connect a motor with encoder data memory. Note: "x" in parameter number is a wild card for parameter set; e.g. "P‑0‑4014" for first parameter set. A motor with encoder data memory was connected, but data Check whether "P‑0‑2141, Motor type, encoder memory" stored in memory are incomplete or encoder line resp. en‐ contains correct type designation of connected motor. If not, coder is defective contact our service department. If "P‑0‑2141, Motor type, encoder memory" cannot be read, replace encoder line or motor encoder RE30159-WA Bosch Rexroth AG 185/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

As of 04VRS During the execution of the command "S‑0‑0422, C0200 Exit parameteriza‐ tion level procedure command" or "S‑0‑0128, C5200 Communication phase 4 transition check" an error in the parameterization of the type of construction of the motor was detected.

The respective parameter is entered in "S‑0‑0423, IDN-list of in‐ valid op. data for parameterization level".

Cause Remedy

For removing command errors see "Command Errors" 7.2.81 C0286 Several motor encoders connected Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" two motor encoders were de‐ tected during the encoder configuration check.

Cause Remedy

Two encoders were detected; in their data memories a valid Replace one of encoders by encoder without valid motor and known motor type string is contained in "P‑0‑2141, Mo‐ type string tor type, encoder memory" Encoder connectors of neighboring axes were interchanged Check axis assignment of encoder connectors and assign to correct axis For removing command errors see "Command Errors" 7.2.82 C0287 Error during initialization of motor data (->S-0-0423) Allocation Contained in 06VRS: «HDH»

In the firmware versions 02VRS and 03VRS, the name of the command error is "C0287 Error during initialization of motor data (->S-0-0022)".

02VRS / 03VRS During the execution of the command "S‑0‑0128, C0200 Communication phase 4 transition check" an error during the initialization of the motor data was detected. The respective parameters are entered in the list "S‑0‑0022, IDN list of invalid operating data for communication phase 3". 186/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Invalid motor data stored in motor data memory Replace motor or contact service department for correction of motor data Synchronous motor with motor encoder data memory (MSK, Check whether closed-loop operation required for synchro‐ MHD, MKD, MKE) was connected to controller which so far nous motors was set in "P‑0‑0045, Control word of current had controlled motor in open-loop operation controller"; set closed-loop operation, if necessary Encoder cable defective or bad shielding Check encoder cable and shielding Encoder memory or encoder electronics defective Replace encoder Hardware defect on control section Replace control section or entire drive controller

Only Rexroth service engineers or especially trained users are al‐ lowed to replace the control section. The replacement of the en‐ tire drive controller is described in the Project Planning Manual for the power section. As of 04VRS During the execution of the command "S‑0‑0422, C0200 Exit parameteriza‐ tion level procedure command" an error was detected during the initialization of the motor data. The respective parameters are entered in the list "S‑0‑0423, IDN-list of invalid op. data for parameterization level".

Cause Remedy

Only Rexroth service engineers or especially trained users are al‐ lowed to replace the control section. The replacement of the en‐ tire drive controller is described in the Project Planning Manual for the power section. For removing command errors see "Command Errors" 7.2.83 C0288 Rotary scaling not allowed Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error was detected with re‐ gard to scaling that was set and the selected motor type (e.g. rotary scaling although a linear motor is used). The phase switch to communication phase 4 is prevented. RE30159-WA Bosch Rexroth AG 187/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Although a linear motor is used, rotary scaling was selected Check and correct respective scaling parameter(s) or use a in at least one of the following parameters: linear encoder ● S‑0‑0044, Velocity data scaling type ● S‑0‑0076, Position data scaling type ● S‑0‑0086, Torque/force data scaling type ● S‑0‑0160, Acceleration data scaling type For removing command errors see "Command Errors" 7.2.84 C0289 Error at init. of synchr. motor with reluctance torque Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" a validation error was detec‐ ted during the initialization of a synchronous motor with reluctance torque.

The initialization of a synchronous motor with reluctance torque is only run when this has been set in parameter "P‑0‑4014, Type of construction of motor".

The initialization of a synchronous motor implies the following parameters: ● S‑0‑0109, Motor peak current ● S‑0‑0110, Amplifier peak current ● S‑0‑0111, Motor current at standstill ● P‑0‑0018, Number of pole pairs/pole pair distance ● P‑0‑0051, Torque/force constant ● P‑0‑4002, Charact. of quadrature-axis induct. of motor, inductances ● P‑0‑4003, Charact. of quadrature-axis inductance of motor, currents ● P‑0‑4016, Direct-axis inductance of motor ● P‑0‑4017, Quadrature-axis inductance of motor

Cause Remedy

Incomplete or invalid entries in parameters for initialization of Check parameter contents and enter data supplied by motor synchronous motor manufacturer in above parameters. If error is generated in spite of correct data, please contact our service department Initialization for synchronous motor with reluctance torque Correct setting in "P‑0‑4014, Type of construction of motor" was run although synchronous motor without reluctance tor‐ que is used See also Functional Description of firmware "Third-Party Motors at IndraDrive Controllers" For removing command errors see "Command Errors" 7.2.85 C0290 Error when reading encoder data => measuring encoder Allocation Contained in 06VRS: «HDH»

It was impossible to read the encoder data (P‑0‑1020, Kind of encoder 3, en‐ coder memory"; "P‑0‑1021, Encoder 3 resolution, encoder memory"; "P‑0‑1022, Absolute encoder offset 3, encoder memory") correctly from the encoder memory during the initialization of the control section. 188/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Interference caused by incorrect shielding or defective en‐ Check encoder cable (incl. shielding) and, if necessary, re‐ coder cable place or run it correctly Encoder defective Check encoder function and, if necessary, replace encoder Measuring encoder option on control section is defective Replace control section or entire drive controller Incorrect parameterization of "P‑0‑0076, Encoder type 3 Check content of "P‑0‑0076, Encoder type 3 (measuring en‐ (measuring encoder)" coder)" and correct it in such a way that measuring encoder is correctly assigned to optional slot

See also Functional Description of firmware "Measuring Systems" 7.2.86 C0291 Incorr. parameterization of measuring enc. (hardware) Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error with regard to the pa‐ rameterization of the hardware of the measuring encoder was detected.

Cause Remedy

Parameterization of "P‑0‑0076, Encoder type 3 (measuring Correct parameterization of "P‑0‑0076, Encoder type 3 encoder)" does not match interface card (e.g. EN1 with En‐ (measuring encoder)" Dat encoder) "P‑0‑0079, Assignment measuring encoder‑>optional slot" Correct parameterization of "P‑0‑0079, Assignment measur‐ incorrectly parameterized ing encoder‑>optional slot" or change control section config‐ uration (replacement of control section or drive controller) In the case of double-axis device (CDB control section), Only one measuring encoder can be connected per double- "P‑0‑0076, Encoder type 3 (measuring encoder)" was para‐ axis device (CDB control section). "P‑0‑0076, Encoder type meterized unequal "0" for both axes 3 (measuring encoder)" may only be unequal "0" for one ax‐ is Clock frequency selected in "P‑0‑0910, SSI control parame‐ Reduce performance (P-0-0556) or increase clock frequency ter" cannot be supported (P-0-0910) See also Functional Description of firmware "Measuring Systems" 7.2.87 C0292 Measuring encoder unknown Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error with regard to the measuring encoder was detected. The content of "P‑0‑1020, Kind of encod‐ er 3, encoder memory" is invalid and the measuring encoder therefore is not allowed. RE30159-WA Bosch Rexroth AG 189/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Encoder memory (feedback) is defective Encoder must be replaced Kind of motor encoder ("P‑0‑1020, Kind of encoder 3, en‐ Check content of "P‑0‑1020, Kind of encoder 3, encoder coder memory") is not supported by the software memory" and contact our service department Detected kind of encoder does not match parameterized Check "P‑0‑0079, Assignment measuring encoder ‑>option‐ type of encoder ("P‑0‑0079, Assignment measuring encoder al slot" and, if necessary, replace control section by correctly ‑>optional slot") configured control section or replace complete drive control‐ ler

Only Rexroth service engineers or especially trained users are al‐ lowed to replace the control section. The replacement of the en‐ tire drive controller is described in the Project Planning Manual for the power section. 7.2.88 C0293 Modulo value for measuring encoder cannot be displayed Allocation Contained in 06VRS: «HDH»

During the execution of command "C0200" an error was detected.

Cause Remedy

Value parameterized for "P‑0‑0765, Modulo factor Correct content of "P‑0‑0765, Modulo factor measuring measuring encoder" cannot be displayed internally with gear encoder" or measuring gear settings ("P‑0‑0127, Input that was set revolutions of measuring gear" and "P‑0‑0128, Output revolutions of measuring gear") "P‑0‑0327, Encoder resolution of measuring encoder" incor‐ Check and, if necessary, correct content of "P‑0‑0327, rectly parameterized Encoder resolution of measuring encoder" See also Functional Description of firmware "Scaling" 7.2.89 C0294 Incorrect measuring encoder configuration Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0200" an error with regard to the measuring encoder configuration was detected.

Cause Remedy

At least one of selected operating modes is synchronization Check and, if necessary, correct parameterization of ope‐ mode (velocity synchronization, phase synchronization or rating mode parameters ("S‑0‑0032, Primary mode of opera‐ electronic cam shaft) and control encoder of synchronization tion"; "S‑0‑0033, Secondary operation mode 1"; "S‑0‑0034, mode has simultaneously been configured as measuring en‐ Secondary operation mode 2";...) if synchronization mode is coder. This configuration is not useful. not required. If synchronization mode is required, deactivate measuring encoder or use additional encoder as measuring encoder. For removing command errors see "Command Errors" 7.2.90 C0298 Impossible to exit parameterization level Allocation Contained in 06VRS: «HDH»

The command "S‑0‑0422, C0200 Exit parameterization level procedure command" was started but cannot be executed. 190/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

During firmware download there was an attempt to switch to Wait until firmware download has been completed before operating mode switching to operating mode After a boot error (F81xx error) there was an attempt to 1. Terminate command switch to operating mode 2. Clear boot error (F81xx error) 3. Remove cause 4. Reboot drive

7.2.91 C0299 Functional package selection changed. Restart Allocation Contained in 06VRS: «HDH»

During the execution of command "C0200" the functional package selection was detected to have been changed without the drive having been rebooted.

Cause Remedy

"P‑0‑2003, Selection of functional packages" contains func‐ Switch drive off and on again in order to apply functional tional package selection which does not correspond to ac‐ package selection of P‑0‑2003 to P‑0‑2004 tive functional package selection (cf. "P‑0‑2004, Active func‐ tional packages") Incorrect functional package selection in "P‑0‑2003, Selec‐ Set value in "P‑0‑2003, Selection of functional packages" to tion of functional packages" value in "P‑0‑2004, Active functional packages" See also Functional Description of firmware "Enabling of Functional Pack‐ ages" For removing command errors see "Command Errors" 7.2.92 C0301 Measuring system unavailable Allocation Contained in 06VRS: «HDH»

During the execution of the "Set absolute measuring" command (C0300) the measuring system selected by parameter "P‑0‑0612, Control word for setting absolute measuring" was detected to be unavailable.

Cause Remedy

Command was activated by mistake Prevent command from being activated Measuring system has not been parameterized Parameterize measuring system See also Functional Description of firmware "Establishing the Position Data Reference" 7.2.93 C0302 Absolute evaluation of measuring system impossible Allocation Contained in 06VRS: «HDH»

During the execution of the command "set absolute measuring"(C0300), it was detected that absolute evaluation of the selected measuring system is impossible.

The command "set absolute measuring" can only be executed, when an absolute measuring system is available (see "S‑0‑0277, Position feedback 1 type" or "S‑0‑0115, Position feedback 2 type"). RE30159-WA Bosch Rexroth AG 191/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Command was activated by mistake Prevent command from being activated Motor encoder or optional measuring system have not been Equip motor or optional measuring system with absolute en‐ designed as absolute encoders coder function Selected maximum travel range is too big Check value in parameter "S-0-0278, Maximum travel range" See also Functional Description of firmware "Establishing Position Data Ref‐ erence for Absolute Measuring Systems" 7.2.94 C0303 Absolute encoder offset cannot be saved Allocation Contained in 06VRS: «HDH»

When executing the command for setting absolute measuring (C0300) the offset of the encoder zero point with regard to the machine zero point is de‐ termined and stored in the data memory of the encoder. It was impossible to store the offset correctly.

Cause Remedy

Communication between encoder and drive is disturbed Check encoder cable and repair it, if necessary ‑ or ‑ Replace encoder

7.2.95 C0401 Switching not allowed Allocation Contained in 06VRS: «HDH»

In the firmware versions 02VRS and 03VRS, the name of the command error is "C0401 Drive active, switching not allowed".

02VRS / 03VRS When switching to communication phase 2 (C0400) an error was detected.

Cause Remedy

Command for switching to parameter mode was started by Terminate command and switch drive enable off, then com‐ means of parameter "P‑0‑4023, C0400 Communication mand can be started again phase 2 transition" although drive enable had been activated

As of 04VRS When switching to parameterization level 1 (C0400) an error was detected.

Cause Remedy

Command "S‑0‑0420, C0400 Activate parameterization level Terminate command C0400 and wait until command C0200 1 procedure command" was started although command has been completed. Then you can restart command C0400 "S‑0‑0422, C0200 Exit parameterization level procedure command" had still been active Command for switching to parameterization level 1 was star‐ Terminate command and switch drive enable off, then com‐ ted by means of parameter "S‑0‑0420, C0400 Activate pa‐ mand can be started again rameterization level 1 procedure command" although drive enable had been activated

7.2.96 C0501 Error clearing only in parameter mode Allocation Contained in 06VRS: «HDH» 192/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

During the execution of the error clearing command (C0500) an error was de‐ tected.

Cause Remedy

There was an attempt to clear error "F8022 Enc. 1 error: Switch drive to communication phase 2 by means of com‐ sign. amplitude (can be cleared in ph.2)" in communication mand "P‑0‑4023, C0400 Communication phase 2 transition" phase 4 (operating mode). This is only possible in communi‐ and start error clearing command again. cation phase 2 (parameterization mode).

7.2.97 C0601 Homing only possible with drive enable Allocation Contained in 06VRS: «HDH»

During the execution of the "Drive-controlled homing procedure" command (C0600) an error was detected.

Cause Remedy

Command was started without drive enable. This is not al‐ Enable drive and start command again. lowed. See also Functional Description of firmware "Drive-Controlled Homing" 7.2.98 C0602 Distance home switch - reference mark erroneous Allocation Contained in 06VRS: «HDH»

During the execution of the command for drive-controlled homing (C0600) an error was detected.

Cause Remedy

Evaluation of home switch has been switched on Read value from parameter "S‑0‑0298, Reference cam shift" ("S‑0‑0147, Homing parameter"). Distance between selected and apply it to parameter "S‑0‑0299, Home switch offset" home switch edge and reference mark to be evaluated is - or - outside of allowed range. Shift reference cam See also Functional Description of firmware "Establishing Position Data Ref‐ erence for Relative Measuring Systems" 7.2.99 C0603 Homing impossible with optional encoder Allocation Contained in 06VRS: «HDH»

During the execution of the command "C0600 Drive-controlled homing proce‐ dure command" an error occurred.

Cause Remedy

Optional encoder has been parameterized as homing en‐ Parameterize motor encoder as homing encoder in coder in "S‑0‑0147, Homing parameter" although optional "S‑0‑0147, Homing parameter" encoder does not exist Optional encoder has not been activated Activate optional encoder in "P‑0‑0075, Encoder type 2 (op‐ tional encoder)"

7.2.100 C0604 Homing impossible with absolute encoder Allocation Contained in 06VRS: «HDH»

During the execution of the command for drive-controlled homing (C0600) an error was detected. RE30159-WA Bosch Rexroth AG 193/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

By encoder selection in "S‑0‑0147, Homing parameter" an First activate command "P‑0‑0012, C0300 Command Set absolute measuring system was selected. Command for absolute measuring" and then start command "S‑0‑0148, drive-controlled homing can only be executed if command C0600 Drive-controlled homing procedure command"; by "P‑0‑0012, C0300 Command Set absolute measuring" had doing this, absolute position data reference is established. been activated before.

7.2.101 C0606 Reference mark not detected Allocation Contained in 06VRS: «HDH»

During the execution of the command for drive-controlled homing (C0600) an error with regard to the reference marks of the encoder was detected. If the reference marks of the relative encoder to be homed (selected in "S‑0‑0147, Homing parameter") occur cyclically over the travel range, the po‐ sition difference of the reference marks detected by the controller is moni‐ tored. This requires the correct setting for "P‑0‑0153, Optimum distance home switch-reference mark".

Cause Remedy

Reference marks do not occur in expected position differ‐ Check measuring system to be homed and corresponding ence wiring ‑ or ‑ Check and, if necessary, correct setting of "P‑0‑0153, Opti‐ mum distance home switch-reference mark" Value set in "P‑0‑0153, Optimum distance home switch-ref‐ Correct setting of "P‑0‑0153, Optimum distance home erence mark" does not match encoder that is used switch-reference mark" See also Functional Description of firmware "Establishing Position Data Ref‐ erence for Relative Measuring Systems" 7.2.102 C0607 Reference cam input not assigned Allocation Contained in 06VRS: «HDH»

During the execution of the "Drive-controlled homing procedure" command (C0600) an error was detected.

Cause Remedy

Home switch hasn't been assigned to any digital input Assign home switch ("S‑0‑0400, Home switch") to a digital input via parameter "P‑0‑0300, Digital I/Os, assignment list"

7.2.103 C0608 Pos. stop a. HW lim. switch not allowed f. modulo axes Allocation Contained in 06VRS: «HDH»

During the execution of the command for drive-controlled homing (C0600) an error was detected.

Cause Remedy

Drive-controlled homing at positive stop or travel range limit Modify control information for homing in "S‑0‑0147, Homing switch with modulo axes isn't a useful combination and parameter" in a useful way therefore not allowed! 194/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.104 C0609 Different travel directions parameterized Allocation Contained in 06VRS: «HDH»

When, in the case of modulo scaling, the homing direction parameterized in "S‑0‑0147, Homing parameter" and the positioning direction set for spindle positioning in "S‑0‑0393, Command value mode" do not match, the command error C0609 is output during the execution of the command for drive-control‐ led homing (C0600).

Cause Remedy

Travel directions for homing and positioning were differently Parameterize travel directions in "S‑0‑0147, Homing param‐ parameterized eter" and "S‑0‑0393, Command value mode" in such a way that they match

7.2.105 C0610 Absolute encoder offset could not be saved Allocation Contained in 06VRS: «HDH»

During the execution of the command for drive-controlled homing (C0600) an error occurred: In the case of a measuring system with feedback data memo‐ ry evaluated in absolute form, the determined absolute encoder offset could not be saved in the feedback data memory.

Cause Remedy

Cable defective Check connection between encoder and drive controller Feedback data memory defective Replace encoder

7.2.106 C0702 Default parameters not available Allocation Contained in 06VRS: «HDH»

While command "C0700 Load defaults proced. command (motor-spec. controller val.)" was executed, an error occurred.

Cause Remedy

Control loops of motors with motor encoder data memory Data sheets of Rexroth motors are made available by the are adjusted to connected digital drive by activating control‐ service department. Enter controller parameters. ler parameters stored in it. Message C0702 on display of drive controller signals that no data memory is available at connected motor. See also Functional Description of firmware "Loading, Storing and Saving Parameters" See also Functional Description of firmware "Rexroth Housing Motors with Encoder Data Memory" 7.2.107 C0703 Default parameters invalid Allocation Contained in 06VRS: «HDH»

While command "C0700 Load defaults proced. command (motor-spec. controller val.)" was executed, an error occurred.

Cause Remedy

Default parameters are read from motor encoder data mem‐ Check connection to motor encoder. Replace motor, if nec‐ ory. At least one of these parameters is invalid. essary. RE30159-WA Bosch Rexroth AG 195/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

See also Functional Description of firmware "Loading, Storing and Saving Parameters" See also Functional Description of firmware "Rexroth Housing Motors with Encoder Data Memory" 7.2.108 C0704 Parameters not copyable Allocation Contained in 06VRS: «HDH»

While command "C0700 Load defaults proced. command (motor-spec. controller val.)" was executed, an error occurred.

Cause Remedy

It was impossible to load default values for motor-specific Load appropriate firmware version to controller; observe mo‐ control loop parameters, available in encoder memory, to tor type and motor encoder type associated parameters. Firmware version is incompatible with motor or motor encoder Performance and switching frequency setting do not match Correct performance setting in "P‑0‑0556, Control word of axis controller" and switching frequency setting in "P‑0‑0001, Switching frequency of the power output stage" See also Functional Description of firmware "Loading, Storing and Saving Parameters" See also Functional Description of firmware "Rexroth Housing Motors with Encoder Data Memory" 7.2.109 C0706 Error when reading the controller parameters Allocation Contained in 06VRS: «HDH»

While command "C0700 Load defaults proced. command (motor-spec. controller val.)" was executed, an error occurred when reading the controller parameters from the motor encoder data memory.

Cause Remedy

Motor encoder data memory defective Replace motor encoder

7.2.110 C0751 Parameter default value incorrect (-> S-0-0423) Allocation Contained in 06VRS: «HDH»

In firmware versions 02VRS and 03VRS, the name of the com‐ mand error is "C0751 Parameter default value incorrect (-> S-0-0021)".

Command "C0750 Load defaults procedure command (factory settings)" was started. An error occurred when a default value was written.

02VRS / 03VRS:The faulty parameter is recorded in parameter "S‑0‑0021, IDN-list of invalid operation data for CP2". As of 04VRS: The faulty parameter is recorded in parameter "S‑0‑0423, IDN-list of invalid data for parameterization levels". 7.2.111 C0752 Locked with password Allocation Contained in 06VRS: «HDH» 196/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

While command "C0750 Load defaults procedure command (factory settings)" was executed, an error occurred.

Cause Remedy

Drive parameters were write-protected by means of parame‐ Deactivate write protection by entering password. Then re‐ ter "S‑0‑0267, Password". Diagnostic message C0752 sig‐ start command. nals that command "C0750 Load defaults procedure com‐ mand (factory settings)" was started without deactivating customer password beforehand. See also Functional Description of firmware "Using a Password" 7.2.112 C0799 An invalid index was set Allocation Contained in 06VRS: «HDH»

At the time command "C0700 Load defaults proced. command (motor-spec. controller val.)" was started, no valid value had been entered in "P‑0‑4090, Configuration for loading default values".

"P‑0‑4090, Configuration for loading default values" can be used to set the function of command "C0700 Load defaults proced. command (motor-spec. controller val.)". After the command was cleared, the value in "P‑0‑4090, Configuration for loading default values" is automatically set to "0" again. 7.2.113 C0851 Parameter default value incorrect (-> S-0-0021) Allocation Contained in 06VRS: «-»

This command error can only occur as a result of the "C0800 Load basic parameters command" that can only be used by the manufacturer! 7.2.114 C0852 Locked with password Allocation Contained in 06VRS: «-»

This command error can only occur as a result of the "C0800 Load basic parameters command" that can only be used by the manufacturer! 7.2.115 C0902 Spindle positioning requires drive enable Allocation Contained in 06VRS: «HDH»

During the execution of the command for spindle positioning (C0900) an error was detected.

Cause Remedy

At start of "S‑0‑0152, C0900 Position spindle command", Set drive enable before starting command drive was not yet in drive enable

7.2.116 C0903 Error during initialization Allocation Contained in 06VRS: «HDH» RE30159-WA Bosch Rexroth AG 197/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

During the execution of the command for spindle positioning (C0900) an error was detected.

Cause Remedy

At start of "S‑0‑0152, C0900 Position spindle command", re‐ In the case of incremental measuring systems, check wheth‐ spective encoder had not yet been initialized (homed) er "S‑0‑0400, Home switch" was assigned to a digital input. Assignment, connection and function of home switch must have been realized (only when home switch is evaluated)! In the case of absolute measuring systems, check whether drive is in reference. If this is not the case, establish abso‐ lute position data reference, e.g. by "P‑0‑0012, C0300 Com‐ mand Set absolute measuring"

7.2.117 C0906 Error during search for zero pulse Allocation Contained in 06VRS: «HDH»

During the execution of the command for spindle positioning (C0900) an error was detected.

Cause Remedy

Homing procedure integrated in spindle positioning was not Check parameterization of spindle positioning and of drive- executed successfully. Encoder zero mark was not found or controlled homing procedure, especially encoder and home it was impossible to assign it correctly. switch combination used. - or - Check encoder parameterization. - or - Check distance zero pulse ‑ home switch. - or - Carry out drive-controlled homing in order to check homing procedure.

7.2.118 C1301 Class 1 diagnostics error at command start Allocation Contained in 06VRS: «HDH»

The command "S‑0‑0149, C1300 Positive stop drive procedure command" cannot be carried out as a class 1 diagnostics error has occurred. See also Functional Description of firmware "Positive Stop Drive Procedure" 7.2.119 C1402 Faulty reference mark signal Allocation Contained in 06VRS: «HDH»

During the execution of command "P‑0‑0014, C1400 Command Get marker position" the reference mark signal is checked for its allowed signal width and the assignment to the track signals. If the signal is outside of the allowed specification or disturbed, this error is generated.

Cause Remedy

Encoder sensor not correctly mounted Correct mounting of encoder sensor Reference mark signal disturbed Check / correct wiring and shielding of reference mark signal For removing command errors see "Command Errors" 198/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.120 C1801 Start requires drive enable Allocation Contained in 06VRS: «HDH»

In order to make sure that the drive is in control when the command "P‑0‑0162, C1800 Command Automatic control loop adjust" is started, this is queried at the start of the command.

Cause Remedy

Drive enable not set at start of command Set drive enable and restart command "P‑0‑0162, C1800 Command Automatic control loop adjust" See also Functional Description of firmware "Automatic Setting of Axis Con‐ trol" 7.2.121 C1802 Motor feedback data not valid Allocation Contained in 06VRS: «HDH»

At the beginning of the automatic control loop setting ("P‑0‑0162, C1800 Command Automatic control loop adjust"), the parameters ● "P-0-0051, Torque/force constant", ● "P-0-0018, Number of pole pairs/pole pair distance" and ● "S-0-0110, Amplifier peak current" are read from the memory in motor encoder or power section.

Cause Remedy

One of above-mentioned parameters has a value equal to or For Rexroth motors with encoder data memory: Service staff less than zero (<= 0) which would cause incorrect calcula‐ writes stored motor parameters or replacement of motor tion of controller parameters For Rexroth motors without encoder data memory and third- party motors: User writes correct values to motor parame‐ ters When device type current is incorrect (S-0-0110): Service staff writes parameter stored in power section or replace‐ ment of device See also Functional Description of firmware "Automatic Setting of Axis Con‐ trol" 7.2.122 C1803 Inertia detection failed Allocation Contained in 06VRS: «HDH»

Automatic control loop setting was aborted; mass moment of inertia (sum of rotor moment of inertia and load moment of inertia) could not be determined

In MPx05V08 and below, the mass moment of inertia had to be determined by evaluating acceleration and deceleration process‐ es. In MPx05V10 and above, parameter "P‑0‑0165, Drive optimization, control word" could be used to parameterize wheth‐ er the mass moment of inertia is to be determined by evaluating acceleration and deceleration processes or by applying the val‐ ues from P‑0‑0510 and P‑0‑4010. RE30159-WA Bosch Rexroth AG 199/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

The mass moment of inertia is determined by evaluating acceleration and de‐ celeration processes:

Cause Remedy

Drive acceleration too low Increase "S‑0‑0260, Positioning acceleration" Load inertia too high Increase "S‑0‑0092, Bipolar torque/force limit value" Motor speed too low Up to MPx04VRS: Increase "S‑0‑0259, Positioning velocity" As of MPx05VRS: Increase "P‑0‑0171, Drive optimization, velocity" Not enough measured values for automatic control loop set‐ Increase "S‑0‑0108, Feedrate override" ting Load inertia too high Check design of drive correct, if necessary

Option in MPx05V10 and above:The mass moment of inertia is calculated from the values in P‑0‑0510 and P‑0‑4010 (P‑0‑0165, bit 4 = "0"):

Cause Remedy

Sum total from P‑0‑0510 and P‑0‑4010 equal to "0" Parameterized P‑0‑0510 and P‑0‑4010 See also Functional Description of firmware "Automatic Setting of Axis Con‐ trol" 7.2.123 C1804 Automatic controller setting failed Allocation Contained in 06VRS: «HDH»

In exceptional cases difficulties can occur during automatic control loop set‐ ting. This means that automatic setting is impossible and the default or stand‐ ard values are loaded to the drive again.

Cause Remedy

Oscillating mechanical systems (resonances) It is sometimes possible to achieve a satisfactory result by ‑ or ‑ restarting the command "P‑0‑0162, C1800 Command Auto‐ matic control loop adjust" with a high "P‑0‑0163, Damping highly noisy encoder signals factor for autom. controller adjust", i.e. a low degree of dy‐ namic response. This value then can still be reduced until the desired control loop behavior occurs. See also Functional Description of firmware "Automatic Setting of Axis Con‐ trol" 7.2.124 C1805 Travel range invalid Allocation Contained in 06VRS: «HDH»

When command "P‑0‑0162, C1800 Command Drive optimization / command value box" is started, the system checks whether the defined travel range is sufficient. 200/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

The maximum travel range defined with "P‑0‑0166, Drive Define travel range such that it is greater than or equal to optimization, end position negative" and "P‑0‑0167, Drive minimum travel range. optimization, end position positive" or with "P‑0‑0169, Drive optimization, travel distance" is less than 2 motor revolutions in case of rotary motors or 100 mm in case of linear motors and therefore too small to allow starting automatic control loop setting. See also Functional Description of firmware "Automatic Setting of Axis Control" 7.2.125 C1806 Travel range exceeded Allocation Contained in 06VRS: «HDH»

During automatic control loop setting, the defined travel range is continuously monitored. This travel range can be defined as follows: Enter the limits "P‑0‑0166, Drive optimization, end position negative" and "P‑0‑0167, Drive optimization, end position positive". ‑ or ‑ Define a relative travel range in "P‑0‑0169, Drive optimization, travel distance" (required for Modulo axes). If the travel range is exceeded, command error C1806 is output and the drive is decelerated under velocity control.

Cause Remedy

Actual position is outside defined travel range Increase travel range ‑ or ‑ Travel range was re-defined after command start See also Functional Description of firmware "Automatic Setting of Axis Control" 7.2.126 C1807 Determining travel range only via travel distance Allocation Contained in 06VRS: «HDH»

When the travel range for the automatic control loop setting had been para‐ meterized, the modulo scaling was not taken into account.

Cause Remedy

There was an attempt to parameterize travel range via Set travel range by parameterizing "P‑0‑0169, Drive optimi‐ "P‑0‑0166, Drive optimization, end position nega‐ zation, travel distance" tive" / "P‑0‑0167, Drive optimization, end position positive". In this case, travel range can only be parameterized directly

7.2.127 C1808 Drive not homed Allocation Contained in 06VRS: «HDH»

During the execution of the command "P-0-0162, C1800 Command Drive op‐ timization / command value box", an error occurred. It was impossible to re‐ cord the tables for cogging torque compensation. RE30159-WA Bosch Rexroth AG 201/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Linear motor hasn't been homed Establish reference; then record table for cogging torque compensation (see also Functional Description of firmware "Cogging Torque Compensation")

7.2.128 C2202 Error when writing data to non-volatile memory Allocation Contained in 06VRS: «HDH»

During the execution of the "S‑0‑0264, C2200 Backup working memory pro‐ cedure command" an error occurred.

Cause Remedy

It was impossible to address active, non-volatile memory (in‐ First start command "S‑0‑0264, C2200 Backup working ternal flash memory or MMC, if plugged in) without error. memory procedure command" again. If error occurs again, then replace MMC (if plugged in) if necessary, then start command again. If error occurs again, contact our service department.

7.2.129 C2301 Error when reading non-volatile memory Allocation Contained in 06VRS: «HDH»

During the execution of the "S‑0‑0263, C2300 Load working memory proce‐ dure command" an error occurred.

Cause Remedy

It was impossible to read active, non-volatile memory [inter‐ Restart command. If error occurs again, contact our service nal flash memory or MMC (if plugged in)] without error. department. Have control section checked for functional safety.

7.2.130 C2302 Error when converting parameters Allocation Contained in 06VRS: «HDH»

During the execution of the "S‑0‑0263, C2300 Load working memory proce‐ dure command" an error occurred.

Cause Remedy

When reading parameters from active, non-volatile memory, Enter faulty parameter values correctly by hand and save an error occurred. them again in non-volatile memory.

7.2.131 C2402 Error when saving parameters Allocation Contained in 06VRS: «HDH»

During the execution of the "S‑0‑0293, C2400 Selectively backup working memory procedure command" an error occurred.

Cause Remedy

It was impossible to address active, non-volatile memory (in‐ Start "S‑0‑0293, C2400 Selectively backup working memory ternal flash memory or MMC, if plugged in) without error. procedure command" again. If error occurs again, then re‐ place MMC (if plugged in) if necessary, then start command again. If error occurs again, contact our service department. 202/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.132 C2502 Error when accessing the MMC Allocation Contained in 06VRS: «HDH»

During the execution of "P‑0‑4091, C2500 Copy IDN from optional memory to internal memory" an error occurred.

The MMC can only be used as an optional memory for control sections with MMC slot.

Cause Remedy

MMC had not been active before, there haven't been any Write parameter contents of internal memory to MMC by ex‐ valid parameter contents stored on it ecuting command "P‑0‑4092, C2600 Copy IDN from internal memory to optional memory" MMC has not (or not completely) been plugged in the MMC Put MMC into controller. Then restart command "P‑0‑4091, slot provided for this purpose C2500 Copy IDN from optional memory to internal memory" Error occurs sporadically due to voltage fluctuations in de‐ Check power supply and then restart command "P‑0‑4091, vice C2500 Copy IDN from optional memory to internal memory". If error occurs repeatedly, you should contact our service department MMC was not or not correctly formatted Format MMC or contact our service department. Then re‐ start command "P‑0‑4091, C2500 Copy IDN from optional memory to internal memory" MMC is defective Check MMC and restart command "P‑0‑4091, C2500 Copy IDN from optional memory to internal memory". If diagnostic message appears repeatedly: replace MMC MMC slot in control section is defective Check MMC slot and, if necessary, replace control section or complete drive controller

If the MMC must be replaced, the values stored on it are lost.

For removing command errors see "Command Errors" See also Functional Description of firmware "MultiMediaCard (MMC)" 7.2.133 C2504 Error when writing data to internal memory Allocation Contained in 06VRS: «HDH»

During the execution of the "P‑0‑4091, C2500 Copy IDN from optional memo‐ ry to internal memory" an error occurred.

Cause Remedy

Error when writing to internal, non-volatile flash memory Restart "P‑0‑4091, C2500 Copy IDN from optional memory to internal memory". If diagnostic message is displayed repeatedly: contact our service department RE30159-WA Bosch Rexroth AG 203/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.134 C2602 Error when accessing the MMC Allocation Contained in 06VRS: «HDH»

During the execution of the command "P‑0‑4092, C2600 Copy IDN from in‐ ternal memory to optional memory" a check is run in order to find out whether a functioning MMC (MultiMediaCard) is available.

The MMC can only be used as an optional memory for control sections with MMC slot.

Cause Remedy

MMC has not (or not completely) been plugged in MMC slot Put MMC into controller. Then restart command "P‑0‑4092, provided for this purpose C2600 Copy IDN from internal memory to optional memory" MMC was not or not correctly formatted Format MMC or contact our service department. Then re‐ start command "P‑0‑4092, C2600 Copy IDN from internal memory to optional memory" At least one of required files is missing in "Parameters" fold‐ Check whether files with extension "....#1.pbf" or "....#1.rbf" er on MMC are contained in "Parameters" folder on MMC. For double- axis devices, files with extension "....#2.pbf" or "....#2.rbf" have to be available! If diagnostic message appears repeat‐ edly: replace MMC MMC is defective Check MMC and restart command "P-0-4092, C2600 Copy IDN from internal memory to optional memory". If diagnostic message appears repeatedly: replace MMC MMC slot in control section is defective Check MMC slot and, if necessary, replace control section or entire drive controller

If the MMC must be replaced, the values stored on it are lost.

See also Functional Description of firmware "MultiMediaCard (MMC)" 7.2.135 C2604 Error when reading the internal memory Allocation Contained in 06VRS: «HDH»

During the execution of the "P‑0‑4092, C2600 Copy IDN from internal memo‐ ry to optional memory" an error occurred.

Cause Remedy

Error when reading internal flash memory Restart "P‑0‑4092, C2600 Copy IDN from internal memory to optional memory". If diagnostic message is displayed repeatedly: save parame‐ ter values via serial interface or SERCOS interface, if re‐ quired. In the medium term, have control section checked for functional safety 204/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.136 C2801 Analog input not configured Allocation Contained in 06VRS: «HDH»

During the execution of the command for adjusting the analog input ("P‑0‑0220, C2800 Analog input adjust command") an error was detected. The execution of the command was aborted.

Cause Remedy

Command for automatic adjust of analog input was started Check parameter "P‑0‑0218, Analog input, control parame‐ although there hadn't any analog input been configured on ter". In this parameter an analog input has to be assigned for drive controller selected analog input assignment See also Functional Description of firmware "Analog Input" 7.2.137 C2802 Oscillations of input signal outside tolerance range Allocation Contained in 06VRS: «HDH»

When the command "P‑0‑0220, C2800 Analog input adjust command" is exe‐ cuted, the quality of the reference signal used is checked.

Cause Remedy

During gain adjust, reference voltage was used that fluctu‐ Check input signal used for precision; if necessary, use dif‐ ates by more that 1% of input voltage range ferent calibration signal During zero point adjust, input voltage is not exactly "0" and Short circuit analog inputs by means of wire bridge fluctuates by more than 1% of input voltage range See also Functional Description of firmware "Analog Inputs" 7.2.138 C2803 Measured values at zero point and max. value identical Allocation Contained in 06VRS: «HDH»

During the execution of the command "P‑0‑0220, C2800 Analog input adjust command" an error was detected. The execution of the command was abor‐ ted.

Cause Remedy

During zero point and gain adjust, the same voltage value Voltage provided at input has to be modified between two was provided at analog input steps of adjust (voltage value for zero adjust: 0 V, voltage value for gain adjust: maximum input voltage) See also Functional Description of firmware "Analog Inputs" 7.2.139 C2804 Automatic adjustment failed Allocation Contained in 06VRS: «HDH»

The command "P‑0‑0220, C2800 Analog input adjust command" was aborted due to an unspecified error. Please contact our service department. 7.2.140 C2903 Error when accessing the MMC Allocation Contained in 06VRS: «HDH»

During the execution of "P‑0‑4072, C2900 Command Firmware update from MMC" a check is run to find out whether the firmware was correctly loaded. RE30159-WA Bosch Rexroth AG 205/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

A transmission error occurred during transmission of firm‐ Execute "P‑0‑4072, C2900 Command Firmware update from ware from MMC MMC" again. If error occurs again, contact a Rexroth service engineer Firmware file (ibf file) available on MMC is not correct (does Use different MMC with firmware file appropriate for control not match control section) section ● control section CSH01.1C: firmware MPH ● control section CSB01.1x: firmware MPB ● control section CDB01.1x: firmware MPD

If the command error occurs during the transmission of the firm‐ ware to an optional module, the respective system error (F8xxx) is displayed in addition to the command error C2903. 7.2.141 C2904 Error when accessing the flash Allocation Contained in 06VRS: «HDH»

During the execution of the "P‑0‑4072, C2900 Command Firmware update from MMC" an error occurred.

Cause Remedy

Due to voltage fluctuations in device an active request was Execute "P‑0‑4072, C2900 Command Firmware update from aborted MMC" again Control section is defective Replace control section or entire drive controller

If the command error occurs during the transmission of the firm‐ ware to an optional module, the respective system error (F8xxx) is displayed in addition to the command error C2904. 7.2.142 C2905 Programmed firmware defective Allocation Contained in 06VRS: «HDH»

During the execution of the "P‑0‑4072, C2900 Command Firmware update from MMC" an error occurred.

Cause Remedy

Firmware transfer from MMC was incorrect Execute "P‑0‑4072, C2900 Command Firmware update from MMC" again Firmware available on MMC is not correct Use a different MMC with the desired firmware An error was detected during check of flash Execute "P‑0‑4072, C2900 Command Firmware update from MMC" again. If error occurs repeatedly, replace control section or entire drive controller 206/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

If the command error occurs during the transmission of the firm‐ ware to an optional module, the respective system error (F8xxx) is displayed in addition to the command error C2905. 7.2.143 C3101 Act. modulo value cycle greater than max. travel range Allocation Contained in 06VRS: «HDH»

The command error C3101 is generated when the calculated modulo value for the actual value cycle is greater than the maximum travel range ("S‑0‑0278, Maximum travel range"). 7.2.144 C3102 Drive is still in drive enable Allocation Contained in 06VRS: «HDH»

Cause Remedy

Drive enable has been set and command "P‑0‑0071, C3100 To be able to carry out the command, drive enable has to be Recalculate actual value cycle" was started removed

7.2.145 C3501 Acquisition velocity not allowed Allocation Contained in 06VRS: «-»

During the execution of the command "P‑0‑0340, C3500 Command Deter‐ mine encoder correction values" an error was detected. To acquire the signal shape the axis has to be moved at constant velocity; the velocity command value has to be within an allowed range of values. The controller monitors the velocity command value and, if necessary, signals in‐ admissible acquisition velocity.

Cause Remedy

Acquisition velocity outside of allowed range of values Check range of values for acquisition velocity (range of val‐ ues relates to encoder shaft or sensor head) "Acquisition velocity" see Functional Description of firmware "Encoder Cor‐ rection" 7.2.146 C3502 Motor encoder not available Allocation Contained in 06VRS: «-»

During the execution of the command "P‑0‑0340, C3500 Command Deter‐ mine encoder correction values" an error was detected.

Cause Remedy

Motor encoder does not supply any signal or is not recog‐ Check whether signals of motor encoder are reaching con‐ nized by controller troller. If necessary, replace motor encoder or motor encod‐ er cable Motor encoder not available, not connected or not registered Connect motor encoder and register it in "P‑0‑0074, Encoder ("open-loop" operation) type 1 (motor encoder)" RE30159-WA Bosch Rexroth AG 207/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.147 C3503 Optional encoder not available Allocation Contained in 06VRS: «-»

During the execution of the command "P‑0‑0340, C3500 Command Deter‐ mine encoder correction values" an error was detected.

Cause Remedy

Optional encoder does not supply any signal or is not recog‐ Check whether signals of optional encoder are reaching nized by controller controller. If necessary, replace encoder or encoder cable Optional encoder not available, not connected or not regis‐ Connect optional encoder and register it in "P‑0‑0075, En‐ tered coder type 2 (optional encoder)"

7.2.148 C3504 Measuring encoder not available Allocation Contained in 06VRS: «-»

During the execution of the command "P‑0‑0340, C3500 Command Deter‐ mine encoder correction values" an error was detected.

Cause Remedy

Measuring encoder does not supply any signal or is not rec‐ Check whether signals of measuring encoder are reaching ognized by controller controller. If necessary, replace encoder or encoder cable Measuring encoder not available, not connected or not reg‐ Connect measuring encoder and register it in "P‑0‑0076, En‐ istered coder type 3 (measuring encoder)"

7.2.149 C3505 No encoder selected Allocation Contained in 06VRS: «-»

During the execution of the command "P‑0‑0340, C3500 Command Deter‐ mine encoder correction values" an error was detected.

Cause Remedy

At start of command "P‑0‑0340, C3500 Command Deter‐ Select encoder in "P‑0‑0341, Control word for encoder cor‐ mine encoder correction values" there hadn't any encoder rection" been selected in "P‑0‑0341, Control word for encoder cor‐ rection"

7.2.150 C3506 Correction value table cannot be stored Allocation Contained in 06VRS: «-»

During the execution of the command "P‑0‑0340, C3500 Command Deter‐ mine encoder correction values" an error was detected.

Cause Remedy

Determined correction value table ("P‑0‑0342, Correction Execute command "P‑0‑0340, C3500 Command Determine value table for encoder correction") is incomplete encoder correction values" again, select different acquisition velocity Due to hardware problem, determined correction value table Replace device ("P‑0‑0342, Correction value table for encoder correction") cannot be stored in drive 208/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.151 C4101 Switching only possible without AF Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0216, C4100 Switch parameter set command" an error occurred.

Cause Remedy

Parameter set switching with parameter group "encoder pa‐ Remove drive enable ("AF") before starting command rameters" was started although axis still is in "AF" See also Functional Description of firmware "Parameter Set Switching" 7.2.152 C4102 Switching only possible in parameter mode Allocation Contained in 06VRS: «-»

"C4100 Switch parameter set command" couldn't be executed.

Cause Remedy

Parameter set switching was activated in operating mode al‐ Bring drive to parameter mode (P2) before starting com‐ though parameter group "motor parameters" has been inclu‐ mand ded in switching process See also Functional Description of firmware "Parameter Set Switching" 7.2.153 C4103 Preselect parameter set forbidden value Allocation Contained in 06VRS: «HDH»

"C4100 Switch parameter set command" couldn't be executed.

Cause Remedy

Value entered in parameter "S‑0‑0217, Preselect parameter Before starting "C4100 Switch parameter set command", set set command" is greater than value in "P‑0‑2217, Parameter value in "S‑0‑0217, Preselect parameter set command" to set switching, preselection range" valid value See also Functional Description of firmware "Parameter Set Switching" 7.2.154 C4104 Error during parameter set switching (->S-0-0423) Allocation Contained in 06VRS: «HDH»

"C4100 Switch parameter set command" could not be executed.

Cause Remedy

A calculation error occurred during parameter set switching IDN of parameter which caused error is displayed in "S‑0‑0423, IDN-list of invalid data for parameterization levels". Write valid value to displayed parameter See also Functional Description of firmware "Parameter Set Switching" 7.2.155 C4105 Error during gear change Allocation Contained in 06VRS: «-»

The description of this diagnostic message is in preparation. RE30159-WA Bosch Rexroth AG 209/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.156 C4201 Oscillation requires drive enable Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0190, C4200 Drive-controlled os‐ cillation command" an error was detected.

Cause Remedy

At start of command, drive wasn't yet ready for power output Before starting C4200 switch power on and set drive enable See also Functional Description of firmware "Drive-Controlled Oscillation" 7.2.157 C4202 Oscillation command speed cannot be reached Allocation Contained in 06VRS: «HDH»

Five seconds after the start of "C4200 Drive-controlled oscillation command" the deviation of the actual velocity value from the oscillation start speed still is greater than or equal to the value of "S‑0‑0157, Velocity window".

Cause Remedy

Value of "S‑0‑0157, Velocity window" is zero Set "S‑0‑0157, Velocity window" to valid value greater zero Motor is blocked or speed is too low due to high degree of Check mechanical drive system for blocking or stiffness friction See also Functional Description of firmware "Drive-Controlled Oscillation" 7.2.158 C4302 Distance home switch - reference mark erroneous Allocation Contained in 06VRS: «HDH»

During the execution of the command for NC-controlled homing (C4300) an error was detected. The axis is equipped with a home switch connected to the controller (see set‐ tings for home switch and reference mark in "S‑0‑0147, Homing parameter").

Cause Remedy

Distance between home switch edge and next reference Read value from parameter "S‑0‑0298, Reference cam shift" mark determined by controller is not inside allowed range and take it over to parameter "S‑0‑0299, Home switch off‐ set" ‑ or ‑ Shift reference cam by value of "S‑0‑0299, Home switch off‐ set" See also Functional Description of firmware "Establishing Position Data Ref‐ erence for Relative Measuring Systems" 7.2.159 C4304 Homing impossible with absolute encoder Allocation Contained in 06VRS: «HDH»

During the execution of the command for NC-controlled homing (C4300) an error was detected: NC-controlled homing is impossible with absolute measuring system. 7.2.160 C4306 Reference mark not detected Allocation Contained in 06VRS: «HDH» 210/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

During the execution of the command for NC-controlled homing (C4300) an error with regard to the reference marks of the encoder was detected. If the reference marks of the relative encoder to be homed (selected in "S‑0‑0147, Homing parameter") occur cyclically over the travel range, the po‐ sition difference of the reference marks detected by the controller is moni‐ tored. This requires the correct setting for "P‑0‑0153, Optimum distance home switch-reference mark".

Cause Remedy

Reference marks do not occur in expected position differ‐ Check measuring system to be homed and corresponding ence wiring ‑ or ‑ Check and, if necessary, correct setting of "P‑0‑0153, Opti‐ mum distance home switch-reference mark" Value set in "P‑0‑0153, Optimum distance home switch-ref‐ Correct setting of "P‑0‑0153, Optimum distance home erence mark" does not match encoder that is used switch-reference mark" See also Functional Description of firmware "Establishing Position Data Ref‐ erence for Relative Measuring Systems" 7.2.161 C4307 Reference cam input not assigned Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑0146, C4300 NC-controlled hom‐ ing procedure command" an error was detected.

Cause Remedy

Home switch hasn't been assigned to any digital input Assign home switch ("S‑0‑0400, Home switch") to a digital input via parameter "P‑0‑0300, Digital I/Os, assignment list" Home switch was connected to NC but "S‑0‑0147, Homing Correct setting of respective bit of "S‑0‑0147, Homing pa‐ parameter" was incorrectly parameterized rameter" See also Functional Description of firmware "Establishing Position Data Ref‐ erence for Relative Measuring Systems" 7.2.162 C4308 Pos. stop a. HW lim. switch not allowed f. modulo axes Allocation Contained in 06VRS: «HDH»

During the execution of the command for NC-controlled homing (C4300) an error was detected:

Cause Remedy

NC-controlled homing at positive stop or travel range limit Modify control information for homing in "S‑0‑0147, Homing switch with modulo axes isn't a useful combination and parameter" in a useful way therefore not allowed!

7.2.163 C4701 Drive active, activation of easy startup impossible Allocation Contained in 06VRS: «-»

The command "P‑0‑4085, C4700 Command Activate easy startup mode" was started, but could not be executed. RE30159-WA Bosch Rexroth AG 211/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Drive had been active when command for activating "easy Remove drive enable before starting command "P‑0‑4085, startup" mode was started C4700 Command Activate easy startup mode" See also Functional Description of firmware "Initial Start in Easy Startup Mode" 7.2.164 C4801 Cogging torque compensation: Measuring vel. too high Allocation Contained in 06VRS: «HDH»

An error occurred during the execution of the command "P‑0‑1138, C4800 Command Determine cogging torque compensation table".

Cause Remedy

Position command value characteristic preset by control Check position command value characteristic of control master master has caused too high measuring velocity at motor and, if necessary, reduce time-related position command value increase; take possibly existing gear ratio into account. Note: Values in table 1 always refer to motor shaft!

7.2.165 C4802 Cogging torque compensation: Measuring vel. too low Allocation Contained in 06VRS: «HDH»

An error occurred during the execution of the command "P‑0‑1138, C4800 Command Determine cogging torque compensation table".

Cause Remedy

Position command value characteristic preset by control Check position command value characteristic of control master has caused too low measuring velocity at motor master and, if necessary, increase time-related position command value increase; take possibly existing gear ratio into account. Note: Values in table 1 always refer to motor shaft!

7.2.166 C4803 Cogging torque compensation: Inadmissible acceleration Allocation Contained in 06VRS: «HDH»

An error occurred during the execution of the command "P‑0‑1138, C4800 Command Determine cogging torque compensation table".

Cause Remedy

Position command value characteristic preset by control Check position command value characteristic of control master has caused too high acceleration during measured master and, if necessary, change it in such a way that motor value detection for cogging torque/force compensation moves with constant velocity in measured value detection range (see "P‑0‑1133, Status word of cogging torque com‐ pensation")

7.2.167 C4804 Cogging torque comp.: Err. when storing corr. val table Allocation Contained in 06VRS: «HDH»

An error occurred during the execution of the command "P‑0‑1138, C4800 Command Determine cogging torque compensation table". 212/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Active non-volatile memory couldn't be addressed without Restart "P‑0‑1138, C4800 Command Determine cogging tor‐ error que compensation table"; should error occur repeatedly, please contact our service department

7.2.168 C4805 Cogging torque comp.: Motor measuring system not homed Allocation Contained in 06VRS: «HDH»

An error occurred during the execution of the command "P‑0‑1138, C4800 Command Determine cogging torque compensation table".

Cause Remedy

Motor encoder (relative) of a rotary motor didn't yet have po‐ Before starting command "P‑0‑1138, C4800 Command De‐ sition data reference termine cogging torque compensation table", make motor turn until reference mark of motor encoder is read Motor encoder (relative) of a linear motor didn't yet have po‐ Before starting command "P‑0‑1138, C4800 Command De‐ sition data reference termine cogging torque compensation table", establish posi‐ tion data reference See also Functional Description of firmware "Establishing Position Data Ref‐ erence for Relative Measuring Systems" 7.2.169 C5301 SERCOS III: Delay measurement failed Allocation Contained in 06VRS: «HDH»

During the execution of the command "S‑0‑1024, C5300 SERCOS III: SYNC delay measuring procedure command" an error occurred or the command could not be started.

Cause Remedy

Parameterization for execution of command is incomplete; Enter valid value in "S-0-1015, SERCOS III: Ring delay" measurement cannot be started Measurement was unsuitable, because deviations in meas‐ Repeat measurement ured values were too big Measurement was unsuitable, because topology changed Repeat measurement during measuring process

7.2.170 C6001 Measuring system unavailable Allocation Contained in 06VRS: «HDH»

During the execution of the "Set absolute measuring" command (C6000) the measuring system selected by parameter "S‑0‑0448, Control word for setting absolute measuring" was detected to be unavailable.

Cause Remedy

Command was activated by mistake Prevent command from being activated Measuring system has not been parameterized Parameterize measuring system See also Functional Description of firmware "Establishing the Position Data Reference" RE30159-WA Bosch Rexroth AG 213/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

7.2.171 C6002 Absolute evaluation of measuring system impossible Allocation Contained in 06VRS: «HDH»

During the execution of the "Set absolute measuring" command (C6000) it was detected that absolute evaluation of the selected measuring system is impossible.

The command "set absolute measuring" can only be executed, when an absolute measuring system is available (see "S‑0‑0277, Position feedback 1 type" or "S‑0‑0115, Position feedback 2 type").

Cause Remedy

Command was activated by mistake Prevent command from being activated Motor encoder or optional measuring system have not been Equip motor or optional measuring system with absolute en‐ designed as absolute encoders coder function See also Functional Description of firmware "Establishing the Position Data Reference" 7.2.172 C6003 Absolute encoder offset cannot be saved Allocation Contained in 06VRS: «HDH»

When executing the command for setting absolute measuring (C6000) the offset of the encoder zero point with regard to the machine zero point is de‐ termined and stored in the data memory of the encoder. It was impossible to store the offset correctly.

Cause Remedy

Communication between encoder and drive is disturbed Check encoder cable and repair it, if necessary ‑ or ‑ Replace encoder

7.2.173 C6004 Command cannot be executed under drive enable Allocation Contained in 06VRS: «HDH»

Cause Remedy

Command "C6000 Command Set absolute measuring" was Reset drive enable, then clear command error and restart started with drive enable having been activated; in first stage command "C6000 Command Set absolute measuring" of expansion of function "set absolute measuring" according to SERCOS specification, this is not supported

7.2.174 C6101 Incorrect IP settings Allocation Contained in 06VRS: «HDH»

During the execution of the command "P‑0‑1534, C6100 Command Activate IP settings", the settings made by the user are checked. 214/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Command Diagnosis

Cause Remedy

Settings for IP address, network mask and gateway address Correct changed settings of IP communication for concerned for one or several interfaces do not match interfaces and execute command "P‑0‑1534, C6100 Com‐ mand Activate IP settings" again RE30159-WA Bosch Rexroth AG 215/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index Index Symbols A +/-15Volt DC error, F8069...... 60 A0119 Phase synchr. lagless, encoder 2, re‐ +24Volt DC error, F8070...... 61 al master axis...... 43 A0128 Cam, encoder 1, virtual master axis...... 43 A0129 Cam, encoder 2, virtual master axis...... 43 A A0130 Cam, encoder 1, real master axis...... 43 A0000 Communication phase 0...... 29 A0131 Cam, encoder 2, real master axis...... 44 A0001 Communication phase 1...... 29 A0132 Cam, lagless, encoder 1, virt. master A0002 Communication phase 2...... 29 axis...... 44 A0003 Communication phase 3...... 30 A0133 Cam, lagless, encoder 2, virt. master A0009 Automatic baud rate detection for axis...... 44 SERCOS interface...... 30 A0134 Cam, lagless, encoder 1, real master A0010 Drive HALT...... 31 axis...... 44 A0011 Starting lockout active...... 31 A0135 Cam, lagless, encoder 2, real master A0012 Control and power sections ready for axis...... 45 operation...... 31 A0136 Motion profile, encoder 1, virtual A0013 Ready for power on...... 32 master axis...... 45 A0014 Drive interlock active...... 32 A0137 Motion profile, encoder 2, virtual A0015 Safety related standstill active...... 33 master axis...... 45 A0016 Safety related operational stop active..... 33 A0138 Motion profile, encoder 2, real master A0018 Special mode motion 1 active...... 34 axis...... 46 A0019 Special mode motion 2 active...... 35 A0139 Motion profile, encoder 1, real master A0020 Special mode motion 3 active...... 36 axis...... 46 A0021 Special mode motion 4 active...... 37 A0140 Motion profile lagless, encoder 1, vir‐ A0050 Parameterization level 1 active...... 38 tual master axis...... 46 A0051 Operating mode...... 38 A0141 Motion profile lagless, encoder 2, vir‐ A0100 Torque control...... 38 tual master axis...... 46 A0101 Velocity control...... 38 A0142 Motion profile lagless, encoder 1, real A0102 Position mode, encoder 1...... 38 master axis...... 47 A0103 Position mode, encoder 2...... 39 A0143 Motion profile lagless, encoder 2, real A0104 Position mode lagless, encoder 1...... 39 master axis...... 47 A0105 Position mode lagless, encoder 2...... 39 A0150 Drive-controlled positioning, encoder 1... 47 A0106 Drive-internal interpolation, encoder 1..... 39 A0151 Drive-controlled positioning, encoder A0107 Drive-internal interpolation, encoder 2..... 40 1, lagless...... 48 A0108 Drive controlled interpolation, lagless, A0152 Drive-controlled positioning, encoder 2... 48 encoder 1...... 40 A0153 Drive-controlled positioning, encoder A0109 Drive controlled interpolation, lagless, 2, lagless...... 49 encoder 2...... 40 A0154 Position mode drive controlled, en‐ A0110 Velocity synchronization, virtual mas‐ coder 1...... 49 ter axis...... 41 A0155 Position mode drive controlled, en‐ A0111 Velocity synchronization, real master coder 2...... 49 axis...... 41 A0156 Position mode lagless, encoder 1 A0112 Phase synchronization, encoder 1, drive controlled...... 50 virtual master axis...... 41 A0157 Position mode lagless, encoder 2 A0113 Phase synchronization, encoder 2, drive controlled...... 50 virtual master axis...... 41 A0158 Direct valve control...... 50 A0114 Phase synchronization, encoder 1, A0160 Position mode drive controlled...... 50 real master axis...... 41 A0161 Drive-controlled positioning...... 51 A0115 Phase synchronization, encoder 2, A0162 Positioning block mode...... 51 real master axis...... 42 A0163 Position synchronization...... 51 A0116 Phase synchr. lagless, encoder 1, A0164 Velocity synchronization...... 52 virtual master axis...... 42 A0206 Positioning block mode, encoder 1...... 52 A0117 Phase synchr. lagless, encoder 2, A0207 Positioning block mode lagless, en‐ virtual master axis...... 42 coder 1...... 52 A0118 Phase synchr. lagless, encoder 1, re‐ A0210 Positioning block mode, encoder 2...... 52 al master axis...... 42 216/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index

A B A0211 Positioning block mode lagless, en‐ Backup working memory procedure com‐ coder 2...... 52 mand, C2200...... 148 A0403 Quick stop with probe detection is active 53 Both travel range limit switches activated, A0500 Supply module in voltage control...... 53 E8042...... 116 A0502 Supply module in operation...... 53 Both travel range limit switches activated, A0503 DC bus charging active...... 53 F6042...... 68 A0520 DC bus quick discharge active...... 53 Brake check function not possible, C0243...... 171 A0800 Unknown operating mode...... 54 Brake error, F2068...... 94 A4000 Automatic drive check and adjustment.... 54 Braking resistor overload, F2820...... 108 A4001 Drive deceleration to standstill...... 54 Braking resistor overload prewarning, E2820... 141 A4002 Drive in automatic mode...... 54 Bus failure, F4009...... 72 A4003 Setting-up mode is active...... 55 Absolute encoder monitoring, motor encoder (encoder alarm), E2077...... 138 C Absolute encoder monitoring, opt. encoder C0100 Communication phase 3 transition (encoder alarm), E2078...... 138 check...... 143 Absolute encoder offset cannot be saved, C0101 Invalid parameters (-> S-0-0021)...... 152 C0303...... 191 C0102 Limit error in parameter (-> S-0-0021)... 153 Absolute encoder offset cannot be saved, C0103 Parameter conversion error (- C6003...... 213 >S-0-0021)...... 153 Absolute encoder offset could not be saved, C0104 Config. IDN for MDT not configurable... 153 C0610...... 194 C0105 Maximum length for MDT exceeded..... 154 Absolute evaluation of measuring system C0106 Config. IDNs for AT not configurable..... 154 impossible, C0302...... 190 C0107 Maximum length for AT exceeded...... 154 Absolute evaluation of measuring system C0108 Time slot parameter > Sercos cycle impossible, C6002...... 213 time...... 155 Acceleration limit active, E2070...... 136 C0109 Position of data record in MDT Acceleration of master axis generator is (S-0-0009) even...... 155 zero, E2101...... 140 C0110 Length of MDT (S-0-0010) odd...... 155 Acquisition velocity not allowed, C3501...... 206 C0111 ID9 + Record length - 1 > length Act. modulo value cycle greater than max. MDT (S-0-0010)...... 156 travel range, C0244...... 171 C0112 TNcyc (S-0-0001) or TScyc Act. modulo value cycle greater than max. (S-0-0002) error...... 156 travel range, C3101...... 206 C0113 Relation TNcyc (S-0-0001) to TScyc Activate parameterization level 1 procedure (S-0-0002) error...... 156 command, C0400...... 143 C0114 T4 > TScyc (S-0-0002) - T4min Actual pos. value 1 outside absolute encod‐ (S-0-0005)...... 157 er window, F2074...... 94 C0115 T2 too small...... 157 Actual pos. value 2 outside absolute encod‐ C0118 Order of cyclic command value con‐ er window, F2075...... 95 figuration incorrect...... 158 Actual pos. value 3 outside absolute encod‐ C0132 Invalid settings for controller cycle er window, F2076...... 96 times...... 158 Analog input 1 or 2, wire break, E2270...... 140 C0139 T2 (S-0-0089)+length MDT Analog input 1 or 2, wire break, F2270...... 105 (S-0-0010)>TScyc (S-0-0002)...... 159 Analog input adjustment command, C2800...... 149 C0151 IDN for command value data contain‐ Analog input not configured, C2801...... 204 er not allowed...... 159 An invalid index was set, C0799...... 196 C0152 IDN for actual value data container Appropriate use...... 15 not allowed...... 159 Applications ...... 15 C0172 Delay measurement (S-0-1024) not Assignment of encoder for synchronization carried out...... 160 is not allowed, F2002...... 75 C0173 Connections (number) not configurable 160 Automatic adjustment failed, C2804...... 204 C0174 Connection configuration not allowed... 160 Automatic baud rate detection for SERCOS C0175 Producer cycle time of a connection interface, A0009...... 30 not correct...... 160 Automatic controller setting failed, C1804...... 199 C0200 Exit parameterization level procedure Automatic drive check and adjustment, A4000... 54 command...... 143 C0201 Invalid parameters (->S-0-0423)...... 161 RE30159-WA Bosch Rexroth AG 217/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index

C C C0202 Parameter limit error (->S-0-0423)...... 161 C0255 Safety command for system init. in‐ C0203 Parameter conversion error (- correct...... 175 >S-0-0423)...... 162 C0256 Safety technology configuration error.... 176 C0210 Feedback 2 required (->S-0-0423)...... 162 C0257 Error in safety technology encoder C0212 Invalid control section data (- initialization...... 176 >S-0-0423)...... 163 C0258 Error in relation TNcyc (S-0-0001) to C0219 Max. travel range too large...... 163 fine interpol...... 176 C0220 Error when initializing position of en‐ C0259 MLD configuration error (->S-0-0423)... 177 coder 1...... 164 C0260 Incremental enc. emulator resol. can‐ C0221 Initialization velocity encoder 1 too high 164 not be displayed...... 177 C0223 Invalid settings for controller cycle C0270 Error when reading encoder data => times...... 165 motor encoder...... 178 C0224 Error when initializing position of en‐ C0271 Incorrect parameterization of motor coder 2...... 165 encoder (hardware)...... 178 C0225 Initialization velocity encoder 2 too high 165 C0272 Incorr. parameteriz. of motor enc. C0227 Error when initializing position of (mechanical system)...... 179 measuring encoder...... 166 C0273 Modulo value for motor encoder can‐ C0228 Initialization velocity measuring en‐ not be displayed...... 179 coder too high...... 166 C0274 Motor encoder unknown...... 180 C0229 Field bus: IDN for cycl. command val. C0275 Error when reading encoder data => not configurable...... 166 optional encoder...... 180 C0230 Field bus: Max. length for cycl. com‐ C0276 Incorrect parameterization of optional mand val. exceeded...... 167 enc. (hardware)...... 180 C0231 Field bus: IDN for cycl. actual val. not C0277 Incorr. parameteriz. of opt. enc. (me‐ configurable...... 167 chanical system)...... 181 C0232 Field bus: Length for cycl. actual val‐ C0278 Modulo value for optional encoder ues exceeded...... 167 cannot be displayed...... 181 C0233 Field bus: Tcyc (P-0-4076) incorrect..... 167 C0279 Optional encoder unknown...... 181 C0234 Field bus: P-0-4077 missing for cycl. C0280 Maximum travel range cannot be dis‐ command values...... 168 played internally...... 182 C0238 Order of cyclic command value con‐ C0281 Commutation via encoder-2 impossible 182 figuration incorrect...... 168 C0282 Sensorless posit. of synchr. motors, C0239 IDN for command value data contain‐ invalid ctrl parameters...... 183 er not allowed...... 168 C0283 Error during initialization of motor C0240 IDN for actual value data container control (->S-0-0423)...... 183 not allowed...... 169 C0284 Invalid motor data in encoder memo‐ C0242 Multiple configuration of a parameter ry (->S-0-0423)...... 183 (->S-0-0423)...... 169 C0285 Type of construction of motor C0243 Brake check function not possible...... 171 P-0-4014 incorrect...... 184 C0244 Act. modulo value cycle greater than C0286 Several motor encoders connected...... 185 max. travel range...... 171 C0287 Error during initialization of motor da‐ C0245 Operation mode configuration (- ta (->S-0-0423)...... 185 >S-0-0423) not allowed...... 171 C0288 Rotary scaling not allowed...... 186 C0246 Trav. range lim. switch not ass. to C0289 Error at init. of synchr. motor with re‐ dig. input...... 172 luctance torque...... 187 C0247 Dig. output already assigned to other C0290 Error when reading encoder data => axis...... 173 measuring encoder...... 187 C0248 Dig. input assigned differently to axes... 173 C0291 Incorr. parameterization of measur‐ C0249 Dig. I/Os: Bit number too large...... 173 ing enc. (hardware)...... 188 C0250 Probe inputs incorrectly configured...... 174 C0292 Measuring encoder unknown...... 188 C0251 Error during synchronization to mas‐ C0293 Modulo value for measuring encoder ter communication...... 174 cannot be displayed...... 189 C0253 Error in combination operation mode C0294 Incorrect measuring encoder configu‐ - encoder (->S-0-0423)...... 174 ration...... 189 C0254 Configuration error PROFIsafe...... 175 C0298 Impossible to exit parameterization level...... 189 218/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index

C C C0299 Functional package selection C0902 Spindle positioning requires drive changed. Restart...... 190 enable...... 196 C0300 Set absolute position procedure com‐ C0903 Error during initialization...... 196 mand...... 143 C0906 Error during search for zero pulse...... 197 C0301 Measuring system unavailable...... 190 C1300 Positive stop drive procedure com‐ C0302 Absolute evaluation of measuring mand...... 147 system impossible...... 190 C1301 Class 1 diagnostics error at com‐ C0303 Absolute encoder offset cannot be mand start...... 197 saved...... 191 C1400 Command Get marker position...... 147 C0400 Activate parameterization level 1 pro‐ C1402 Faulty reference mark signal...... 197 cedure command...... 143 C1500 Cancel reference point procedure C0401 Switching not allowed...... 191 command...... 147 C0500 Reset class 1 diagnostics, error reset... 143 C1600 Parking axis command...... 147 C0501 Error clearing only in parameter mode..191 C1800 Command Drive optimization / com‐ C0600 Drive-controlled homing procedure mand value box...... 148 command...... 144 C1801 Start requires drive enable...... 198 C0601 Homing only possible with drive enable 192 C1802 Motor feedback data not valid...... 198 C0602 Distance home switch - reference C1803 Inertia detection failed...... 198 mark erroneous...... 192 C1804 Automatic controller setting failed...... 199 C0603 Homing impossible with optional en‐ C1805 Travel range invalid...... 199 coder...... 192 C1806 Travel range exceeded...... 200 C0604 Homing impossible with absolute en‐ C1807 Determining travel range only via coder...... 192 travel distance...... 200 C0606 Reference mark not detected...... 193 C1808 Drive not homed...... 200 C0607 Reference cam input not assigned...... 193 C2200 Backup working memory procedure C0608 Pos. stop a. HW lim. switch not al‐ command...... 148 lowed f. modulo axes...... 193 C2202 Error when writing data to non-vola‐ C0609 Different travel directions parameter‐ tile memory...... 201 ized...... 194 C2300 Load working memory procedure C0610 Absolute encoder offset could not be command...... 148 saved...... 194 C2301 Error when reading non-volatile C0700 Load defaults proced. command memory...... 201 (motor-spec. controller val.)...... 144 C2302 Error when converting parameters...... 201 C0702 Default parameters not available...... 194 C2400 Selectively backup working memory C0703 Default parameters invalid...... 194 procedure command...... 149 C0704 Parameters not copyable...... 195 C2402 Error when saving parameters...... 201 C0706 Error when reading the controller pa‐ C2502 Error when accessing the MMC...... 202 rameters...... 195 C2504 Error when writing data to internal C0720 Load defaults procedure command memory...... 202 (safety technology)...... 145 C2602 Error when accessing the MMC...... 203 C0730 Load defaults procedure command C2604 Error when reading the internal mem‐ (MLD)...... 145 ory...... 203 C0740 Command Activate field bus profile C2800 Analog input adjustment command...... 149 settings...... 146 C2801 Analog input not configured...... 204 C0750 Load defaults procedure command C2802 Oscillations of input signal outside (factory settings)...... 146 tolerance range...... 204 C0751 Parameter default value incorrect (-> C2803 Measured values at zero point and S-0-0423)...... 195 max. value identical...... 204 C0752 Locked with password...... 195 C2804 Automatic adjustment failed...... 204 C0799 An invalid index was set...... 196 C2900 Command Firmware update from MMC 149 C0800 Load basic parameters command...... 147 C2903 Error when accessing the MMC...... 204 C0851 Parameter default value incorrect (-> C2904 Error when accessing the flash...... 205 S-0-0021)...... 196 C2905 Programmed firmware defective...... 205 C0852 Locked with password...... 196 C3100 Recalculate actual value cycle...... 149 C0900 Position spindle command...... 147 C3101 Act. modulo value cycle greater than max. travel range...... 206 RE30159-WA Bosch Rexroth AG 219/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index

C C C3102 Drive is still in drive enable...... 206 C5200 Communication phase 4 transition C3300 Set coordinate system procedure check...... 151 command...... 149 C5300 SERCOS III: Command SYNC delay C3400 Shift coordinate system procedure measurement...... 151 command...... 150 C5301 SERCOS III: Delay measurement C3500 Command Determine encoder cor‐ failed...... 212 rection values...... 150 C6000 Set absolute position procedure com‐ C3501 Acquisition velocity not allowed...... 206 mand...... 151 C3502 Motor encoder not available...... 206 C6001 Measuring system unavailable...... 212 C3503 Optional encoder not available...... 207 C6002 Absolute evaluation of measuring C3504 Measuring encoder not available...... 207 system impossible...... 213 C3505 No encoder selected...... 207 C6003 Absolute encoder offset cannot be C3506 Correction value table cannot be stored 207 saved...... 213 C4100 Switch parameter set command...... 150 C6004 Command cannot be executed under C4101 Switching only possible without AF...... 208 drive enable...... 213 C4102 Switching only possible in parameter C6100 Command Activate IP settings...... 152 mode...... 208 C6101 Incorrect IP settings...... 213 C4103 Preselect parameter set forbidden Calculate displacement procedure com‐ value...... 208 mand, C4400...... 150 C4104 Error during parameter set switching Cam, encoder 1, real master axis, A0130...... 43 (->S-0-0423)...... 208 Cam, encoder 1, virtual master axis, A0128...... 43 C4105 Error during gear change...... 208 Cam, encoder 2, real master axis, A0131...... 44 C4200 Drive-controlled oscillation command.... 150 Cam, encoder 2, virtual master axis, A0129...... 43 C4201 Oscillation requires drive enable...... 209 Cam, lagless, encoder 1, real master axis, C4202 Oscillation command speed cannot A0134...... 44 be reached...... 209 Cam, lagless, encoder 1, virt. master axis, C4300 NC-controlled homing procedure A0132...... 44 command...... 150 Cam, lagless, encoder 2, real master axis, C4302 Distance home switch - reference A0135...... 45 mark erroneous...... 209 Cam, lagless, encoder 2, virt. master axis, C4304 Homing impossible with absolute en‐ A0133...... 44 coder...... 209 Cam shaft invalid, F2005...... 77 C4306 Reference mark not detected...... 209 Cancel reference point procedure command, C4307 Reference cam input not assigned...... 210 C1500...... 147 C4308 Pos. stop a. HW lim. switch not al‐ Class 1 diagnostics error at command start, lowed f. modulo axes...... 210 C1301...... 197 C4400 Calculate displacement procedure Cogging torque comp.: Err. when storing command...... 150 corr. val table, C4804...... 211 C4500 Displacement to referenced system Cogging torque comp.: Motor measuring procedure command...... 151 system not homed, C4805...... 212 C4700 Command Activate easy startup mode. 151 Cogging torque compensation: Inadmissible C4701 Drive active, activation of easy start‐ acceleration, C4803...... 211 up impossible...... 210 Cogging torque compensation: Measuring C4800 Command Determine cogging torque vel. too high, C4801...... 211 compensation table...... 151 Cogging torque compensation: Measuring C4801 Cogging torque compensation: vel. too low, C4802...... 211 Measuring vel. too high...... 211 Command Activate easy startup mode, C4700 151 C4802 Cogging torque compensation: Command Activate field bus profile settings, Measuring vel. too low...... 211 C0740...... 146 C4803 Cogging torque compensation: Inad‐ Command Activate IP settings, C6100...... 152 missible acceleration...... 211 Command cannot be executed under drive C4804 Cogging torque comp.: Err. when enable, C6004...... 213 storing corr. val table...... 211 Command Determine cogging torque com‐ C4805 Cogging torque comp.: Motor meas‐ pensation table, C4800...... 151 uring system not homed...... 212 Command Determine encoder correction values, C3500...... 150 220/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index

C D Command Drive optimization / command Dig. I/Os: Bit number too large, C0249...... 173 value box, C1800...... 148 Dig. input assigned differently to axes, C0248.. 173 Command Firmware update from MMC, Dig. output already assigned to other axis, C2900...... 149 C0247...... 173 Command Get marker position, C1400...... 147 Direct valve control, A0158...... 50 Communication phase 0, A0000...... 29 Displacement to referenced system proce‐ Communication phase 1, A0001...... 29 dure command, C4500...... 151 Communication phase 2, A0002...... 29 Distance home switch - reference mark erro‐ Communication phase 3, A0003...... 30 neous, C0602...... 192 Communication phase 3 transition check, Distance home switch - reference mark erro‐ C0100...... 143 neous, C4302...... 209 Communication phase 4 transition check, Double MDT failure shutdown, E4002...... 123 C5200...... 151 Double MDT failure shutdown, F4002...... 70 Communication watchdog: Overload of cy‐ Double MST failure shutdown, E4001...... 123 clic communication, E4011...... 126 Double MST failure shutdown, F4001...... 70 Communication watchdog: Overload of cy‐ Drive active, activation of easy startup im‐ clic communication, F4011...... 73 possible, C4701...... 210 Commutation offset invalid, F2104...... 99 Drive-controlled homing procedure com‐ Commutation via encoder-2 impossible, mand, C0600...... 144 C0281...... 182 Drive controlled interpolation, lagless, en‐ Config. IDN for MDT not configurable, C0104..153 coder 1, A0108...... 40 Config. IDNs for AT not configurable, C0106.... 154 Drive controlled interpolation, lagless, en‐ Configuration error PROFIsafe, C0254...... 175 coder 2, A0109...... 40 Connection configuration not allowed, C0174..160 Drive-controlled oscillation command, C4200... 150 Connection error mains choke, F8813...... 65 Drive-controlled positioning, A0161...... 51 Connections (number) not configurable, Drive-controlled positioning, encoder 1, A0150..47 C0173...... 160 Drive-controlled positioning, encoder 1, lag‐ Contactor control error, F2834...... 109 less, A0151...... 48 Contactor monitoring error, F2837...... 110 Drive-controlled positioning, encoder 2, A0152..48 Control and power sections ready for opera‐ Drive-controlled positioning, encoder 2, lag‐ tion, A0012...... 31 less, A0153...... 49 Control section defective, F8122...... 64 Drive deceleration to standstill, A4001...... 54 Correction value table cannot be stored, Drive HALT, A0010...... 31 C3506...... 207 Drive in automatic mode, A4002...... 54 Current measurement trim wrong, F2077...... 96 Drive interlock active, A0014...... 32 Drive-internal interpolation, encoder 1, A0106.... 39 Drive-internal interpolation, encoder 2, A0107.... 40 D Drive is still in drive enable, C3102...... 206 DC bus balancing monitor error, F2836...... 110 Drive not homed, C1808...... 200 DC bus charging active, A0503...... 53 Drive not ready for control, F2025...... 83 DC bus quick discharge active, A0520...... 53 Drive system...... 17 Default parameters invalid, C0703...... 194 Drive system not ready for operation, E2810.... 141 Default parameters not available, C0702...... 194 Delay measurement (S-0-1024) not carried out, C0172...... 160 E Determining travel range only via travel dis‐ E2010 Position control with encoder 2 not tance, C1807...... 200 possible...... 126 Device overload, current limit active, E8057..... 119 E2021 Motor temperature outside of meas‐ Device overload prewarning, E2061...... 135 uring range...... 126 Device overload shutdown, F8057...... 60 E2026 Undervoltage in power section...... 127 Device overtemp. prewarning, E2050...... 130 E2047 Interpolation velocity = 0...... 128 Device overtemperature 2 shutdown, F2040...... 87 E2048 Interpolation acceleration = 0...... 128 Device overtemperature shutdown, F2018...... 81 E2049 Positioning velocity >= limit value...... 129 Device overtemperature shutdown, F8018...... 58 E2050 Device overtemp. prewarning...... 130 Device temperature monitor defective, F2022.... 83 E2051 Motor overtemp. prewarning...... 130 Different travel directions parameterized, E2053 Target position out of travel range...... 131 C0609...... 194 E2054 Not homed...... 132 RE30159-WA Bosch Rexroth AG 221/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index

E E E2055 Feedrate override S-0-0108 = 0...... 132 E8802 PLL is not synchronized...... 120 E2056 Torque limit = 0...... 133 E8814 Undervoltage in mains...... 121 E2058 Selected positioning block has not E8815 Overvoltage in mains...... 121 been programmed...... 134 E8818 Phase failure...... 121 E2059 Velocity command value limit active...... 134 E8819 Mains failure...... 122 E2061 Device overload prewarning...... 135 Electric drive system...... 17 E2063 Velocity command value > limit value.... 135 Emergency-Stop activated, E8034...... 115 E2064 Target position out of num. range...... 136 Emergency-Stop activated, F4034...... 74 E2070 Acceleration limit active...... 136 Emergency-Stop activated, F6034...... 67 E2074 Encoder 1: Encoder signals disturbed... 136 Enc. 1: Enc. signals incorr. (can be cleared E2075 Encoder 2: Encoder signals disturbed... 137 in ph. 2), F8022...... 58 E2077 Absolute encoder monitoring, motor Encoder 1: Encoder signals disturbed, E2074.. 136 encoder (encoder alarm)...... 138 Encoder 1: Extended bit 1 reports error, F8096.. 62 E2078 Absolute encoder monitoring, opt. Encoder 1: Extended bit 2 reports error, F8097.. 63 encoder (encoder alarm)...... 138 Encoder 1 error: Signal amplitude incorrect, E2092 Internal synchronization defective...... 139 F2031...... 85 E2100 Positioning velocity of master axis Encoder 2: Encoder signals disturbed, E2075.. 137 generator too high...... 139 Encoder 2: Encoder signals incorrect, F2042..... 88 E2101 Acceleration of master axis generator Encoder 2 error: Signal amplitude incorrect, is zero...... 140 F8042...... 59 E2270 Analog input 1 or 2, wire break...... 140 Error at init. of synchr. motor with reluctance E2810 Drive system not ready for operation..... 141 torque, C0289...... 187 E2818 Phase failure...... 141 Error clearing only in parameter mode, C0501. 191 E2819 Mains failure...... 141 Error comfort control panel, F2130...... 101 E2820 Braking resistor overload prewarning.... 141 Error during gear change, C4105...... 208 E4001 Double MST failure shutdown...... 123 Error during initialization, C0903...... 196 E4002 Double MDT failure shutdown...... 123 Error during initialization of motor control (- E4005 No command value input via master >S-0-0423), C0283...... 183 communication...... 124 Error during initialization of motor data (- E4007 SERCOS III: Consumer connection >S-0-0423), C0287...... 185 failed...... 125 Error during parameter set switching (- E4008 Invalid addressing command value >S-0-0423), C4104...... 208 data container A...... 125 Error during phase progression, F4004...... 71 E4009 Invalid addressing actual value data Error during phase regression, F4005...... 71 container A...... 125 Error during search for zero pulse, C0906...... 197 E4010 Slave not scanned or address 0...... 126 Error during synchronization to master com‐ E4011 Communication watchdog: Overload munication, C0251...... 174 of cyclic communication...... 126 Error in combination operation mode - en‐ E8025 Overvoltage in power section...... 113 coder (->S-0-0423), C0253...... 174 E8026 Undervoltage in power section...... 114 Error in control of braking resistor, F2821...... 109 E8029 Positive position limit exceeded...... 114 Error in motion profile, F2004...... 76 E8030 Negative position limit exceeded...... 115 Error in non-cyclical data communic. of pow‐ E8034 Emergency-Stop activated...... 115 er section, F2110...... 100 E8035 Quick stop with probe detection is ac‐ Error in relation TNcyc (S-0-0001) to fine in‐ tive...... 116 terpol., C0258...... 176 E8040 Torque/force actual value limit active.... 116 Error in safety technology encoder initializa‐ E8042 Both travel range limit switches acti‐ tion, C0257...... 176 vated...... 116 Error internal function call, F9001...... 57 E8043 Positive travel range limit switch acti‐ Error internal RTOS function call, F9002...... 57 vated...... 117 Error supply module, F2086...... 97 E8044 Negative travel range limit switch ac‐ Error supply shutdown, F2840...... 111 tivated...... 118 Error when accessing the flash, C2904...... 205 E8055 Motor overload, current limit active...... 118 Error when accessing the MMC, C2502...... 202 E8057 Device overload, current limit active...... 119 Error when accessing the MMC, C2602...... 203 E8260 Torque/force command value limit Error when accessing the MMC, C2903...... 204 active...... 119 Error when converting parameters, C2302...... 201 222/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index

E F Error when initializing digital I/O (-> F2028 Excessive deviation...... 84 S-0-0423), F2010...... 80 F2031 Encoder 1 error: Signal amplitude in‐ Error when initializing position of encoder 1, correct...... 85 C0220...... 164 F2033 External power supply X10 error...... 85 Error when initializing position of encoder 2, F2036 Excessive position feedback difference... 86 C0224...... 165 F2037 Excessive position command difference.. 87 Error when initializing position of measuring F2039 Maximum acceleration exceeded...... 87 encoder, C0227...... 166 F2040 Device overtemperature 2 shutdown...... 87 Error when initializing power section, F8102...... 63 F2042 Encoder 2: Encoder signals incorrect...... 88 Error when initializing the parameter han‐ F2043 Measuring encoder: Encoder signals dling, F8100...... 63 incorrect...... 88 Error when reading encoder data => meas‐ F2044 External power supply X15 error...... 89 uring encoder, C0290...... 187 F2048 Low battery voltage...... 89 Error when reading encoder data => motor F2050 Overflow of target position preset encoder, C0270...... 178 memory...... 90 Error when reading encoder data => option‐ F2051 No sequential block in target position al encoder, C0275...... 180 preset memory...... 91 Error when reading non-volatile memory, F2055 External power supply X31/X32 error...... 91 C2301...... 201 F2057 Target position out of travel range...... 91 Error when reading the controller parame‐ F2058 Internal overflow by positioning input...... 92 ters, C0706...... 195 F2059 Incorrect command value direction Error when reading the internal memory, when positioning...... 93 C2604...... 203 F2067 Synchronization to master communi‐ Error when saving parameters, C2402...... 201 cation incorrect...... 93 Error when writing data to internal memory, F2068 Brake error...... 94 C2504...... 202 F2074 Actual pos. value 1 outside absolute Error when writing data to non-volatile mem‐ encoder window...... 94 ory, C2202...... 201 F2075 Actual pos. value 2 outside absolute Excessive deviation, F2028...... 84 encoder window...... 95 Excessive position command difference, F2037. 87 F2076 Actual pos. value 3 outside absolute Excessive position feedback difference, F2036.. 86 encoder window...... 96 Exit parameterization level procedure com‐ F2077 Current measurement trim wrong...... 96 mand, C0200...... 143 F2086 Error supply module...... 97 External power supply X10 error, F2033...... 85 F2087 Module group communication error...... 97 External power supply X15 error, F2044...... 89 F2100 Incorrect access to command value External power supply X31/X32 error, F2055..... 91 memory...... 97 F2101 It was impossible to address MMC...... 98 F2102 It was impossible to address I2C F memory...... 98 F2002 Assignment of encoder for synchroni‐ F2103 It was impossible to address EnDat zation is not allowed...... 75 memory...... 98 F2003 Motion step skipped...... 76 F2104 Commutation offset invalid...... 99 F2004 Error in motion profile...... 76 F2105 It was impossible to address Hiper‐ F2005 Cam shaft invalid...... 77 face memory...... 99 F2006 MMC was removed...... 78 F2110 Error in non-cyclical data communic. F2007 Switching to non-initialized operation of power section...... 100 mode...... 78 F2120 MMC: Defective or missing, replace...... 100 F2008 RL The motor type has changed...... 79 F2121 MMC: Incorrect data or file, create F2009 PL Load parameter default values...... 79 correctly...... 100 F2010 Error when initializing digital I/O (-> F2122 MMC: Incorrect IBF file, correct it...... 101 S-0-0423)...... 80 F2130 Error comfort control panel...... 101 F2018 Device overtemperature shutdown...... 81 F2174 Loss of motor encoder reference...... 102 F2019 Motor overtemperature shutdown...... 82 F2175 Loss of optional encoder reference...... 102 F2021 Motor temperature monitor defective...... 82 F2176 Loss of measuring encoder reference... 103 F2022 Device temperature monitor defective..... 83 F2177 Modulo limitation error of motor en‐ F2025 Drive not ready for control...... 83 coder...... 103 F2026 Undervoltage in power section...... 84 RE30159-WA Bosch Rexroth AG 223/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index

F F F2178 Modulo limitation error of optional en‐ F8078 Speed loop error...... 61 coder...... 104 F8079 Velocity limit value exceeded...... 62 F2190 Incorrect Ethernet configuration...... 104 F8091 Power section defective...... 62 F2270 Analog input 1 or 2, wire break...... 105 F8096 Encoder 1: Extended bit 1 reports error... 62 F2802 PLL is not synchronized...... 106 F8097 Encoder 1: Extended bit 2 reports error... 63 F2814 Undervoltage in mains...... 106 F8100 Error when initializing the parameter F2815 Overvoltage in mains...... 106 handling...... 63 F2816 Softstart fault power supply unit...... 106 F8102 Error when initializing power section...... 63 F2817 Overvoltage in power section...... 107 F8118 Invalid power section/firmware combi‐ F2818 Phase failure...... 107 nation...... 64 F2819 Mains failure...... 107 F8120 Invalid control section/firmware com‐ F2820 Braking resistor overload...... 108 bination...... 64 F2821 Error in control of braking resistor...... 109 F8122 Control section defective...... 64 F2833 Ground fault in motor line...... 109 F8129 Incorrect optional module firmware...... 64 F2834 Contactor control error...... 109 F8813 Connection error mains choke...... 65 F2835 Mains contactor wiring error...... 110 F9001 Error internal function call...... 57 F2836 DC bus balancing monitor error...... 110 F9002 Error internal RTOS function call...... 57 F2837 Contactor monitoring error...... 110 F9003 Watchdog...... 57 F2840 Error supply shutdown...... 111 F9004 Hardware trap...... 57 F2860 Overcurrent in mains-side power sec‐ Fatal hardware error, F8000...... 57 tion...... 111 Faulty reference mark signal, C1402...... 197 F2890 Invalid device code...... 112 Feedback 2 required (->S-0-0423), C0210...... 162 F2891 Incorrect interrupt timing...... 112 Feedrate override S-0-0108 = 0, E2055...... 132 F2892 Hardware variant not supported...... 112 Field bus: IDN for cycl. actual val. not config‐ F4001 Double MST failure shutdown...... 70 urable, C0231...... 167 F4002 Double MDT failure shutdown...... 70 Field bus: IDN for cycl. command val. not F4003 Invalid communication phase shutdown..71 configurable, C0229...... 166 F4004 Error during phase progression...... 71 Field bus: Length for cycl. actual values ex‐ F4005 Error during phase regression...... 71 ceeded, C0232...... 167 F4006 Phase switching without ready signal...... 71 Field bus: Max. length for cycl. command F4009 Bus failure...... 72 val. exceeded, C0230...... 167 F4011 Communication watchdog: Overload Field bus: P-0-4077 missing for cycl. com‐ of cyclic communication...... 73 mand values, C0234...... 168 F4012 Incorrect I/O length...... 74 Field bus: Tcyc (P-0-4076) incorrect, C0233.... 167 F4017 S-III: Incorrect sequence during Functional package selection changed. Re‐ phase switch...... 74 start, C0299...... 190 F4034 Emergency-Stop activated...... 74 F6028 Position limit value exceeded (overflow).. 65 F6029 Positive position limit exceeded...... 66 G F6030 Negative position limit exceeded...... 67 Ground fault in motor line, F2833...... 109 F6034 Emergency-Stop activated...... 67 F6042 Both travel range limit switches activated 68 H F6043 Positive travel range limit switch acti‐ Hardware trap, F9004...... 57 vated...... 68 Hardware variant not supported, F2892...... 112 F6044 Negative travel range limit switch ac‐ Homing impossible with absolute encoder, tivated...... 69 C0604...... 192 F8000 Fatal hardware error...... 57 Homing impossible with absolute encoder, F8018 Device overtemperature shutdown...... 58 C4304...... 209 F8022 Enc. 1: Enc. signals incorr. (can be Homing impossible with optional encoder, cleared in ph. 2)...... 58 C0603...... 192 F8042 Encoder 2 error: Signal amplitude in‐ Homing only possible with drive enable, correct...... 59 C0601...... 192 F8057 Device overload shutdown...... 60 Hydraulic drive system...... 17 F8060 Overcurrent in power section...... 60 F8069 +/-15Volt DC error...... 60 F8070 +24Volt DC error...... 61 224/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index

I I ID9 + Record length - 1 > length MDT Invalid control section data (->S-0-0423), (S-0-0010), C0111...... 156 C0212...... 163 IDN for actual value data container not al‐ Invalid device code, F2890...... 112 lowed, C0152...... 159 Invalid motor data in encoder memory (- IDN for actual value data container not al‐ >S-0-0423), C0284...... 183 lowed, C0240...... 169 Invalid parameters (-> S-0-0021), C0101...... 152 IDN for command value data container not Invalid parameters (->S-0-0423), C0201...... 161 allowed, C0151...... 159 Invalid power section/firmware combination, IDN for command value data container not F8118...... 64 allowed, C0239...... 168 Invalid settings for controller cycle times, Impossible to exit parameterization level, C0132...... 158 C0298...... 189 Invalid settings for controller cycle times, Inappropriate use...... 16 C0223...... 165 Consequences, exclusion of liability ...... 15 It was impossible to address EnDat memory, Incorr. parameteriz. of motor enc. (mechani‐ F2103...... 98 cal system), C0272...... 179 It was impossible to address Hiperface Incorr. parameteriz. of opt. enc. (mechanical memory, F2105...... 99 system), C0277...... 181 It was impossible to address I2C memory, Incorr. parameterization of measuring enc. F2102...... 98 (hardware), C0291...... 188 It was impossible to address MMC, F2101...... 98 Incorrect access to command value memo‐ ry, F2100...... 97 Incorrect command value direction when po‐ L sitioning, F2059...... 93 Length of MDT (S-0-0010) odd, C0110...... 155 Incorrect Ethernet configuration, F2190...... 104 Limit error in parameter (-> S-0-0021), C0102.. 153 Incorrect I/O length, F4012...... 74 Load basic parameters command, C0800...... 147 Incorrect interrupt timing, F2891...... 112 Load defaults proced. command (motor- Incorrect IP settings, C6101...... 213 spec. controller val.), C0700...... 144 Incorrect measuring encoder configuration, Load defaults procedure command (factory C0294...... 189 settings), C0750...... 146 Incorrect optional module firmware, F8129...... 64 Load defaults procedure command (MLD), Incorrect parameterization of motor encoder C0730...... 145 (hardware), C0271...... 178 Load defaults procedure command (safety Incorrect parameterization of optional enc. technology), C0720...... 145 (hardware), C0276...... 180 Load working memory procedure command, Incremental enc. emulator resol. cannot be C2300...... 148 displayed, C0260...... 177 Locked with password, C0752...... 195 Inertia detection failed, C1803...... 198 Locked with password, C0852...... 196 Initialization velocity encoder 1 too high, Loss of measuring encoder reference, F2176..103 C0221...... 164 Loss of motor encoder reference, F2174...... 102 Initialization velocity encoder 2 too high, Loss of optional encoder reference, F2175...... 102 C0225...... 165 Low battery voltage, F2048...... 89 Initialization velocity measuring encoder too high, C0228...... 166 M Internal overflow by positioning input, F2058...... 92 Mains contactor wiring error, F2835...... 110 Internal synchronization defective, E2092...... 139 Mains failure, E2819...... 141 Interpolation acceleration = 0, E2048...... 128 Mains failure, E8819...... 122 Interpolation velocity = 0, E2047...... 128 Mains failure, F2819...... 107 Invalid addressing actual value data contain‐ Max. travel range too large, C0219...... 163 er A, E4009...... 125 Maximum acceleration exceeded, F2039...... 87 Invalid addressing command value data Maximum length for AT exceeded, C0107...... 154 container A, E4008...... 125 Maximum length for MDT exceeded, C0105.... 154 Invalid communication phase shutdown, F4003. 71 Maximum travel range cannot be displayed Invalid control section/firmware combination, internally, C0280...... 182 F8120...... 64 Measured values at zero point and max. val‐ ue identical, C2803...... 204 RE30159-WA Bosch Rexroth AG 225/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index

M N Measuring encoder: Encoder signals incor‐ Negative position limit exceeded, F6030...... 67 rect, F2043...... 88 Negative travel range limit switch activated, Measuring encoder not available, C3504...... 207 E8044...... 118 Measuring encoder unknown, C0292...... 188 Negative travel range limit switch activated, Measuring system unavailable, C0301...... 190 F6044...... 69 Measuring system unavailable, C6001...... 212 No command value input via master commu‐ MLD configuration error (->S-0-0423), C0259..177 nication, E4005...... 124 MMC: Defective or missing, replace, F2120..... 100 No encoder selected, C3505...... 207 MMC: Incorrect data or file, create correctly, No sequential block in target position preset F2121...... 100 memory, F2051...... 91 MMC: Incorrect IBF file, correct it, F2122...... 101 Not homed, E2054...... 132 MMC was removed, F2006...... 78 Module group communication error, F2087...... 97 Modulo limitation error of motor encoder, O F2177...... 103 Operating mode, A0051...... 38 Modulo limitation error of optional encoder, Operation mode configuration (->S-0-0423) F2178...... 104 not allowed, C0245...... 171 Modulo value for measuring encoder cannot Optional encoder not available, C3503...... 207 be displayed, C0293...... 189 Optional encoder unknown, C0279...... 181 Modulo value for motor encoder cannot be Order of cyclic command value configuration displayed, C0273...... 179 incorrect, C0118...... 158 Modulo value for optional encoder cannot be Order of cyclic command value configuration displayed, C0278...... 181 incorrect, C0238...... 168 Motion profile, encoder 1, real master axis, Oscillation command speed cannot be A0139...... 46 reached, C4202...... 209 Motion profile, encoder 1, virtual master ax‐ Oscillation requires drive enable, C4201...... 209 is, A0136...... 45 Oscillations of input signal outside tolerance Motion profile, encoder 2, real master axis, range, C2802...... 204 A0138...... 46 Overcurrent in mains-side power section, Motion profile, encoder 2, virtual master ax‐ F2860...... 111 is, A0137...... 45 Overcurrent in power section, F8060...... 60 Motion profile lagless, encoder 1, real mas‐ Overflow of target position preset memory, ter axis, A0142...... 47 F2050...... 90 Motion profile lagless, encoder 1, virtual Overvoltage in mains, E8815...... 121 master axis, A0140...... 46 Overvoltage in mains, F2815...... 106 Motion profile lagless, encoder 2, real mas‐ Overvoltage in power section, E8025...... 113 ter axis, A0143...... 47 Overvoltage in power section, F2817...... 107 Motion profile lagless, encoder 2, virtual master axis, A0141...... 46 P Motion step skipped, F2003...... 76 Parameter conversion error (->S-0-0021), Motor encoder not available, C3502...... 206 C0103...... 153 Motor encoder unknown, C0274...... 180 Parameter conversion error (->S-0-0423), Motor feedback data not valid, C1802...... 198 C0203...... 162 Motor overload, current limit active, E8055...... 118 Parameter default value incorrect (-> Motor overtemp. prewarning, E2051...... 130 S-0-0021), C0851...... 196 Motor overtemperature shutdown, F2019...... 82 Parameter default value incorrect (-> Motor temperature monitor defective, F2021...... 82 S-0-0423), C0751...... 195 Motor temperature outside of measuring Parameterization level 1 active, A0050...... 38 range, E2021...... 126 Parameter limit error (->S-0-0423), C0202...... 161 Multiple configuration of a parameter (- Parameters not copyable, C0704...... 195 >S-0-0423), C0242...... 169 Parking axis command, C1600...... 147 PELV...... 22 N Phase failure, E2818...... 141 NC-controlled homing procedure command, Phase failure, E8818...... 121 C4300...... 150 Phase failure, F2818...... 107 Negative position limit exceeded, E8030...... 115 Phase switching without ready signal, F4006..... 71 226/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index

P P Phase synchr. lagless, encoder 1, real mas‐ Positive stop drive procedure command, ter axis, A0118...... 42 C1300...... 147 Phase synchr. lagless, encoder 1, virtual Positive travel range limit switch activated, master axis, A0116...... 42 E8043...... 117 Phase synchr. lagless, encoder 2, real mas‐ Positive travel range limit switch activated, ter axis, A0119...... 43 F6043...... 68 Phase synchr. lagless, encoder 2, virtual Power section defective, F8091...... 62 master axis, A0117...... 42 Preselect parameter set forbidden value, Phase synchronization, encoder 1, real mas‐ C4103...... 208 ter axis, A0114...... 41 Probe inputs incorrectly configured, C0250...... 174 Phase synchronization, encoder 1, virtual Producer cycle time of a connection not cor‐ master axis, A0112...... 41 rect, C0175...... 160 Phase synchronization, encoder 2, real mas‐ Programmed firmware defective, C2905...... 205 ter axis, A0115...... 42 Protective extra-low voltage...... 22 Phase synchronization, encoder 2, virtual master axis, A0113...... 41 PLL is not synchronized, E8802...... 120 Q PLL is not synchronized, F2802...... 106 Quick stop with probe detection is active, PL Load parameter default values, F2009...... 79 A0403...... 53 Pos. stop a. HW lim. switch not allowed f. Quick stop with probe detection is active, modulo axes, C0608...... 193 E8035...... 116 Pos. stop a. HW lim. switch not allowed f. modulo axes, C4308...... 210 R Position control with encoder 2 not possible, Ready for power on, A0013...... 32 E2010...... 126 Recalculate actual value cycle, C3100...... 149 Positioning block mode, A0162...... 51 Reference cam input not assigned, C0607...... 193 Positioning block mode, encoder 1, A0206...... 52 Reference cam input not assigned, C4307...... 210 Positioning block mode, encoder 2, A0210...... 52 Reference mark not detected, C0606...... 193 Positioning block mode lagless, encoder 1, Reference mark not detected, C4306...... 209 A0207...... 52 Relation TNcyc (S-0-0001) to TScyc Positioning block mode lagless, encoder 2, (S-0-0002) error, C0113...... 156 A0211...... 52 Reset class 1 diagnostics, error reset, C0500..143 Positioning velocity >= limit value, E2049...... 129 RL The motor type has changed., F2008...... 79 Positioning velocity of master axis generator Rotary scaling not allowed, C0288...... 186 too high, E2100...... 139 Position limit value exceeded (overflow), F6028. 65 Position mode, encoder 1, A0102...... 38 S Position mode, encoder 2, A0103...... 39 Safety command for system init. incorrect, Position mode drive controlled, A0160...... 50 C0255...... 175 Position mode drive controlled, encoder 1, Safety instructions for electric and hydraulic A0154...... 49 drives and controls...... 17 Position mode drive controlled, encoder 2, Safety related operational stop active, A0016.... 33 A0155...... 49 Safety related standstill active, A0015...... 33 Position mode lagless, encoder 1, A0104...... 39 Safety technology configuration error, C0256... 176 Position mode lagless, encoder 1 drive con‐ Selected positioning block has not been pro‐ trolled, A0156...... 50 grammed, E2058...... 134 Position mode lagless, encoder 2, A0105...... 39 Selectively backup working memory proce‐ Position mode lagless, encoder 2 drive con‐ dure command, C2400...... 149 trolled, A0157...... 50 Sensorless posit. of synchr. motors, invalid Position of data record in MDT (S-0-0009) ctrl parameters, C0282...... 183 even, C0109...... 155 SERCOS III: Command SYNC delay meas‐ Position spindle command, C0900...... 147 urement, C5300...... 151 Position synchronization, A0163...... 51 SERCOS III: Consumer connection failed, Positive position limit exceeded, E8029...... 114 E4007...... 125 Positive position limit exceeded, F6029...... 66 SERCOS III: Delay measurement failed, C5301...... 212 RE30159-WA Bosch Rexroth AG 227/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Index

S T Set absolute position procedure command, Target position out of travel range, E2053...... 131 C0300...... 143 Target position out of travel range, F2057...... 91 Set absolute position procedure command, Time slot parameter > Sercos cycle time, C6000...... 151 C0108...... 155 Set coordinate system procedure command, TNcyc (S-0-0001) or TScyc (S-0-0002) error, C3300...... 149 C0112...... 156 Setting-up mode is active, A4003...... 55 Torque/force actual value limit active, E8040... 116 Several motor encoders connected, C0286...... 185 Torque/force command value limit active, Shift coordinate system procedure com‐ E8260...... 119 mand, C3400...... 150 Torque control, A0100...... 38 S-III: Incorrect sequence during phase Torque limit = 0, E2056...... 133 switch, F4017...... 74 Trav. range lim. switch not ass. to dig. input, Slave not scanned or address 0, E4010...... 126 C0246...... 172 Softstart fault power supply unit, F2816...... 106 Travel range exceeded, C1806...... 200 Special mode motion 1 active, A0018...... 34 Travel range invalid, C1805...... 199 Special mode motion 2 active, A0019...... 35 Type of construction of motor P-0-4014 in‐ Special mode motion 3 active, A0020...... 36 correct, C0285...... 184 Special mode motion 4 active, A0021...... 37 Speed loop error, F8078...... 61 Spindle positioning requires drive enable, U C0902...... 196 Undervoltage in mains, E8814...... 121 Starting lockout active, A0011...... 31 Undervoltage in mains, F2814...... 106 Start requires drive enable, C1801...... 198 Undervoltage in power section, E2026...... 127 State-of-the-art...... 15 Undervoltage in power section, E8026...... 114 Supply module in operation, A0502...... 53 Undervoltage in power section, F2026...... 84 Supply module in voltage control, A0500...... 53 Unknown operating mode, A0800...... 54 Switching not allowed, C0401...... 191 Use Switching only possible in parameter mode, Appropriate use ...... 15 C4102...... 208 Inappropriate use ...... 16 Switching only possible without AF, C4101...... 208 Switching to non-initialized operation mode, V F2007...... 78 Velocity command value > limit value, E2063... 135 Switch parameter set command, C4100...... 150 Velocity command value limit active, E2059..... 134 Synchronization to master communication Velocity control, A0101...... 38 incorrect, F2067...... 93 Velocity limit value exceeded, F8079...... 62 Velocity synchronization, A0164...... 52 T Velocity synchronization, real master axis, T2 (S-0-0089)+length MDT A0111...... 41 (S-0-0010)>TScyc (S-0-0002), C0139...... 159 Velocity synchronization, virtual master axis, T2 too small, C0115...... 157 A0110...... 41 T4 > TScyc (S-0-0002) - T4min (S-0-0005), C0114...... 157 W Target position out of num. range, E2064...... 136 Watchdog, F9003...... 57 228/229 Bosch Rexroth AG RE30159-WA Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X RE30159-WA Bosch Rexroth AG 229/229 Digital Drive Controller for Hydraulic Drives with Sercos Interface Type VT-HNC100.-3X

Notes Bosch Rexroth AG Hydraulics Zum Eisengießer 1 97816 Lohr, Germany [email protected] www.boschrexroth.com

Printed in Germany RE 30159-WA/03.12 Edition 01